ChaperControllabilityandobservabilityforLinearSystems.ppt

§3.4 Controllability Criterion of Discrete Time Systems Chapter 3 Controllability and Observability The necessary and sufficient condition of system’s controllable completely is that the rank of the controllability matrix be n. (or the vector of H GH … Gn-1H are linearly independent) Consider a discrete time system Chapter 3 Controllability and Observability Example 3.8 Solution: Not controllable Example 3.9 Controllable Solution: §3.5 Observability Criterion of LTI Systems Chapter 3 Controllability and Observability The system is said to be completely observable if every state x(t0) can be determined from the observation of y(t) over a finite time interval t0≤t≤t1. Consider the unforced system described by the following equations: The reason: Chapter 3 Controllability and Observability Gram matrix criterion The necessary and sufficient condition of system’s controllable completely in [to,t1] is the Gram Nonsingular. Sufficient condition Gram matrix is Nonsingular observable Chapter 3 Controllability and Observability Necessary condition Gram matrix is Nonsingular observable Suppose Gram matrix M(0,t1) is singular, then must be a nonzero vector Hence State no observable Chapter 3 Controllability and Observability Rank criterion This system is completely observable if and only if the observability matrix of is full rank (has rank n). Chapter 3 Controllability and Observability If the system is completely observable, then, given the output y(t) over a time interval, x(0) is uniquely determined from this equation. It can be shown that this requires the rank of the observability matrix to be n. Chapter 3 Controllability and Observability Example 3.10 Solution: Completely Observable Chapter 3 Controllability and Observability Example 3.11 Solution: No Observable Chapter 3 Controllability and Observability Condition for Observability Diagonal Form The system is completely observable if none of the column of the m×n matrix C consists of