Xe Ant Ba yrexrDu t= HKD bess Revts of OCs) and eigen Veltes of system matrix BCs) and characteristic Eigen valte- Eigen values of a mahix are the cheecteristic <9 Azfo 1’) Find eigen valves of A 2-3, soit |r2-A]=0 —e GE. of mahix A a ae [2 shale soaarece ave the eigen value Transformations for transforming ate medel into 1+ Gerhvellable Caner cal form 2. Observable canenical form 3. Diagonal / Jorden Canonice! form insfermation of s-tete medel from one form te another form eqnet fi ave the same, RE AR+ BU 7 wih init ) ¢ Y= ex+ou | on? x06) 1 | Hew fet us consider a linear transformation Awe same. | = 9 “$= AK BA fremmaltiphing on btn sides wit? neta oe Nearer eee ral YoerRt ous Jn new system Berne x+Du [Fran sferrmaton makik we Nensivony System inte Diagonal / Jeden firm PEt, fa ---Pa) > Model matin, Ai, Pa, «Py axe the eigen vertors, cove apmding 4o eigen valven of A1+ Trwariarce of eigen values Eigen values of Fare the eots of |AI- 8) =O ) a1-B]=| a1- he] =| F'e-F Ae) =| ae- Foe F'car-e)el =[e“} (ax-a) if) = |Az-4l D. Gnvatiance of ‘Wanster function steps 7 et I Defecmine eigen values of mavix A eet Nelsz aed F'a4D PP itsr-al Pe Peto = cCst-aT'e+0 3s Inadaree of output teapen se yeretu'§ (1-0 He yoo = ELs2-AT' seelst rr Me ‘eae er Cplcsz-ae) rx cre '[es-A'¢ po ixte> cfs. te) Transformation inh Oieyerl / Baten canesical fave Ba rlne, B= 6's, T= CP, D=D, Xt = F XCD (sf, fe... Fa) > modal enix 2: Determine eigen vectors for al) eigen values. S- Frem ede matrix aotauen Vectors determine ou ita columns fl 4: Oeterming pm) 5. determine F,BE4 5 } 8Eigen vector — 1+ ‘is a vectr “tet satisfies the 9 -[s]e[A]= AX=>K For A=-I where A> system Mehix =) 17 P72 a Fe ero of mahi A X > Eigen veetor f 1) elle Bete te A > Eigen value Tetheds te determine eigen vectors. J. Soliing the eqs LAT-A]X=0 french A 2. Adjeint methed EX, Determine €igen vahtes ard eigen = ee eet |: REL 0, let Y=) 1 Sol The CE. of As 2%, -%,=0, Let 421 a-l | a4 BAtazo 2 Xo 8M 2-2 2 MB . ux ele SAE ynh : x=(.1] Lai Ax =0 i 2 GL) =Ex. Detecine eigen values ard eigen veetru af] _y 9, = 0 Fa = zfo |e hs fe oot n= o) é ot —¢ 62 /t 1x,FS%3=0 PMs 2, %ye4 A -l 0 9-2 = ={-s IF a nt |= ACAoani] C6] : w[3) ¢ ou Me 1 2 4CAF Id C=O - oD For eigen vectors CAT-Alx=0 Pift aunt ce x] _[° = BH, Mszo mee et |e 1=|/0 Gx, FU HHNEO 6 ot te) Las, let X21Mcteemining eigen vectors for repeated cigen Values a €igen Vectors of mehix A Let matrix fl hes ‘h' eigen values and out of thse YW wives, Pave repeated {Ar-A] x =O For ae For First eigen valve, [at-a]4,=0 [ar-Alx =o a =) x2] shen CAT ADK2-%1 [a ellie [ar-a)xas me =, Let Met then 42-2 nef Lama) p= 9-1 Ex. Deteamine cigen velves beizen Vectors of 2 then for repeated ) 2-2. fee “4, Cat-A)%=-x -2 -170% i Saco ie [a we (2) 1 eee 4 aaa Manazo Let Me 1 then %o— dE=2,-2,Fi ctota by Adjsint me - 5 Zin i Eizen vectors Been rs: 0) sect ate lee seo Dae a rote n i. is For 2-3 ele re A if Be ae 0 ® ¥ Ee (3 Da TE AttaAti=o @ A I [ZA +6AFNATE =O 19 27 9, 2 ual Cra aes = 2-3 [3] fait of Cat-A)= (es paj-ot poe = Brena) aS q ForA=-! =cp -lla-6 hajeint of Car-ADe( 2 For A=-1 (a i paiCAT- Le & “}, nef] 6 5 1 For Az-2 paitat-mle(% “ ab [a] 12 16 4 ” aae (hae £) s0l? The CE. of A is [a sha]= ater =o EH And Aajoint of conay=(™" ! For Az-2 adj Cota (4% -]/%=(-'2) For repeated Az-2 Amipral=[) = (s)-7]Transform the stete mode! jsf o | [2 Se(thao into diagere! / Jardin canmical firm ‘SOP For Az a oh] the cise Valles ave Az 1-2 aM the cigen vectors ave Re (_! Note, (42) ats Alf = “Cealt F[e -4 | “recat 4] =[-1 -3] ate ae bil Ye(-b -3)%Ex. Transform the stute mode} [eg Up [Sbevet ae 6-1) —6. 1 inte diagonel/ Jordon canon ice} form som Fer Az[O f 1] clam mies 6-1) ~6. 2,-3- The eigen vectors are are A=Ex. Diasonatize the matrix gail ) o. soit The OE, of mahi A is, =[é £] ie zh [s@-von=0 a agin acorns [SL] wore al f[2] maycarendel ge tl eff] Medal matrix, P= ! i reley| Fe hes ie ailite Je | ao aL 1]Ex- Diagenalise the matrix Az 2! 14, ae i ale ee(t-l fe(h) e), ee Coau) nate Mg eR IG oll A) toe DAE ri ‘Ba celle ne ners by polo sie wr eli 4 & alla) Sol The CE, of matrix A is, Le 3l,[eevowr 2 Aten Meattco DER,3 ae (ey al For A Aaj Car a (3 i} n(i] For xepeated A: Astin: 8 ‘} a2(o) 2) ee. a Ps fy ab i] is 4] 2 ented ADS Sie BlGilbert test For investigation of state controllability and state obsewability Considev a system with atte otal Investigation of obsevvabi lity fs fastuyysex iz 6iap, Tz er The 2yster la completely atte observable HF rane af the colin in main H2 HRB ye eR | BHP B ae BEL Investigate for contllability and observability oe ‘peli 10% by oo bre ee bays. bar soit completely state confaliolte ard sinte obsewvable a fed ged ‘L_Envestigate for cootellailty and absewability (4 1 coi Not completely sate cotable Not completely stnte observable sade %, is Pot corhollable sinte My is ret pbservable i Stete model in canonical form Gilbect test for system with distinct elgen values mM 0 0-+-0 io ma 0 -- tele 0 eo ie by +». bre] 0 6 6-4 en Sa. cin 2 |e, can oss ean * Tove: ion of control) abil ‘The system Us completely state contetiable if none of the you in tabs B has ail zerosnvestigation of observability Oy Were =o bi «+ by 1. There shosld vot be multiple Serden black. ¢ di i < ce sho ple ch. covrespunding 48 Lo Ono 8 5 ie ae same eigen value oO Mas te 0 (RAN MA | 2. Every column in € covrespunding to distin €i gen vanes © Of hao shall rot have ai) ees ee ee 2. Ficst column in C cottespunding to every Jorden beck in, ° shall net have all zeas + . ws, ¥, ay te Gy syn te Ex. Tnvestigote for contaliab lity and ebservabilty Bh fan Gay Cay Can | o By CER Cay CoH = CD | ' Mu cio Cima ems Cray = CO, Tinestigation of contellebility : 1. There should ret be multiple Jorden blacks 01 completely state contallable Cowes ponding te same eigen Value completely state obsewable 2, Eveey xouicboves ponding t distinc else velte shall pet have all zeves 6 ; 3. Last voun corresponding to every Jordan buck, shall not have alll 26708Net canplekely stexte conroliate. Completely state observable [1 30] so! Conhellable, tet observable 3 Hi ite 2@ © ° an is wel o -t1 o 2 Ofer] | tu oe Sa eo ° ' oO 4 jel + ie L ° ° oe” o -S ie C1 = 1 0 ae vty 2 49 ites completes cote 52! completely state conallable. fer completely state observable. Competely site obsewable Hote A system is always state contillable if Model is bo conhellable canonical frm A syoterm is alviays stete Obseyyable if Model is in observable camerical fim rRei” bet contrallability, obsewability aed trancfer function Gap —St (tCsta) fee fur ebioo TE a system has Comme Ales 4 zes in the tran: aed the state Made] jz obtained withwut fole- 260 Cancellation thea the system is neither controllable Nor observable. Bet if such transtee function is cenvected in ¢-¢. fatto, the system is contellable 4 if it is Ye presented in o-¢. frvre then Ex. Determine duel system of (dG): it is chsecvable. Principle of duality Let 5) be the stele model given by we Pee bu) Y= CK bs, be the state medel given by vel 41% Ax+du, Ve so! The dual system is 1 -S)ea(t Ju [3 2h] then 51 a0d Sq are the dial of each otter | = yeCy 3)=Th a systero is completely state conballable then its uel systero is completely state observable ant Vice-Veag Poot. |. System $, is completely shite contallable if yank of ynathin, Ce Ae pte... Are) ism 2. System S, is completely state contel Ler mat pet... prejisn B. System s,s completely state observable (et per Met wn AMV ism 44. system Sa is completely state observable if rank of mabin re AB pte --- e%'e) isp Jable iF rank of maki if wank of mabineansformation of state model fo hase vaviable forma non Any form to conhellable caponicn) fovm of adate medet a, ee Ant eu Bere Yeex eset cbjedive is 1 tYanaim abeve etate medel te cc. foxt a we Att Be [. Detecmine contalability mabis yee F martx B 1 set 4M, Any wher, ax o ° . o|; om! rale= 5 " Salta momo) Fe =4 I-ke, ke = 2 \ Smt a4 u) Fe.Numerical example on state observer 4,23, 4,23, 451 Design a full order state observer for a system with Step-3 closed lewp C6. Siete model (3 3 p(s) Geti-iDCstitiests = G42stay¢ste) er sal [o S+rsttiasto = Yelo © 11% A272 12, % =l0 Such thet eigen values of observer evior dynamicsare | step- Determine Q Bye Gee A+ FA DATIOT . @, Pies] fio Omelsi) a lomome 0-2 siti o “Arle \o 3| 1-33) Lo ta -sé] bo o 10Sepa Determine) ke Direct substitution method Step-| Investigate for complete state observability Ne[e™ Ale? pet) = [é a 4] 1-3 3 IMa-1 fo -. system is completely state observable step-2. closed loop charactor stic oy? sti 4) Csti-J) (st) = S44s4412st10 step-% determin |s1-A+ keCl=0 o-l eel @ OEMs ape 9 oo s or Fes = a mom rein = =/-1 € 2 |t]/o © a o -1 st3] Lo o Kes Paeettecl=) 3 & Tithe sist hast ss theta] ket Ot Stet] _ Si (begt 0S (hea He Sthest 4Tury stability test consides a system with cloand [stp chivacteviate equation Pada Og2"4 4,244 taal. tan? He oe et, eso cyst teetl) ee oar The covresponding Jury's table is - 3 bo bees mw 2 - o 2 oo. a 1 Oy en Grn eg ee MM Me lay PS Gk Ree ee ee a) ae Hecessary orate | Sufficiency cond’ Bb ben bea bey tn by Be. pen 20 Ie tena 71s) eh we oe ben bet BCP PCN 70 2-leeal >)¢ol 2. ante ac1%l7itl St oak aon es Sk ne me vere te ah aH Tort conte 6 H & % Bena cot! : Es oo. G tf | fe 1 check for Becessavy coi tons ee Gm t 8 2. Ferm the Tuva ‘nble 2. check for SUFF cheney condition ans te Te " | : ve‘Investigate stability of the system with chavactecistic eq” fears ate aiaty nga tos using Tucye stabi lity teat. soit we have, pears B20 Het sero |; -16 392 1 ty ea hans 0.368 toad Necessary conditions. Mie i bo POD = gabe batons = MEE 7O (iiceeyloniet aiePpens —[-1rat1ae torsi]= o-0a 70 1m) = 0.8976 &. 14p)= Jag) = 0-82, 1401 =F Ibo} = 0-768 Jani< Iael *. Hea) >I be} 7: \ 2 since ott conditions are satisfied Row 2 2 z 2 The system is stable, 1 82 Me . 1 ay bay ok 2 0.8996 -h6R9 ~OF68 noi -o8 ra aselemotte i i isTovestigate the stability of system vite characteristic eq” = ztiihetztorso Teale 0-96, Vexle One *. Ves) alo) SAN conditions are satisfied except POZO Where PUI=C system iz marginally stable, Ts ets are, 2 =1,0.5,-0.4 Piz) = B19 (2-0-5) C2404) 2- pineTrvestigate stability of 2p 240m with Chan egh Pick = -0-a999ag | Sufficierry condisams oe oo! azo. 22°} 0.082-c00lz0 = 9 Jury's stability tear. be Uige o-taageg Swe have, ln = 0.0487 Pears 2 na2+ o22't o052- Ugh ztnd Necessary conditions 2 0.20022. 1g I= 0.4496 Neo) = 02528 1 ROE Iahatearoos 90! = 0.00070 DU PEDE (14 natonn o-08-o.00(]= 2.34970 os aha el>ite) system is stable B 149} = ba) = 0-001 , Jae! laete ta) eacfommn — -2048) aa5e Gays kee cours -o-199999) ° . 2 Row a se cye[-oa eet) soap ae s. =" ies [on ee oe 2 [-e-o4ss anes aa ot Se 1 ‘ coz|-o-annany i9995 =oamgey Linas 92002 ~o04Re j-e048s ~o.se0n| = 0.28) coonge ~o2Gon L994 —0-999999 wtwe o.qaze - 1.2099 02588