（经典控制理论英文版）NonlinearControllabilityandObservability.pdfVIP

728 AUTOMATICTRANSACTIONSONlEl3 CONTROL VOL. AC-22, NO. 5, OCTOBER 1977 Nonlinear Controllability and Observability ROBERT HERMANN AND ARTHUR J. KRENER, MEMBER, IEEE Abstraet--Zbe propertie of ~ n ~ ~ f io ~t ~ya ,b i l i tandy , the state space M isstill too large, then one would llke to Of minimal r r a l i o n for linear systems are and apply a systematic technique to reduce M and still pre- been very useful in analyzing such systems. This paper deals with anale serve the input-output structure of the model. gous questions for nonlinear systems. Using the ideas of controllability and observability, in I. INTRODUCTIOK the early 1960s Kalman and others carried out this pro- gram for linear systems. The similar questions for nonlin- FREQUENTLY, control systems of the following form ear systemswere not effectively treated until the early are used to model the behavior of physical,biological,1970s.Based on the work of Chow [5], Hermann [9], systems,Haynes-Hermesorsocial [8], and Brockett [9] and working inde- pendently. Lobry [21],[22], Sussman-Jurdjevic [25], and i =f(x, u ) 2: