现代控制理论教案（英文版）3.pptVIP

Chapter 3 Controllability and observability of system 3.1 Controllable definition 1. LTI controlable definition 2. Continuos time-variant system Emphasize that is controlable at t0 3. Discrete time system 3.2 Controllabality 1. A system with Jordan normal form 1. siso Single roots; repeated roots 2. mimo Suppose x=Tz, transform to Jordan normal form 2. From A and B to see system controllability 1. siso The controllable matrix conposed of A b Is full rank 2. mimo M’s rank=n M n?nr rankM=M·MT 3.3 Observability 1. Observabality definition From state equation analyse Give a