杭州电子科技大学现代控制理论基础课件第三章 可控性和可观性（1）.ppt

Modern Control Theory Lecture 8 Modern Control Theory Letures Notes Coryrighr@Xiaodong zhao Homework#3 : 3-5, 3-7, 3-15, 3-17 Due Date: May. 19 Midterm Exam: Apr. 28th 10:00~11:30 Content: Chapter 1, 2 Chapter 3: Controllability Observability 3.1 Controllability of linear continuous time system 3.1.1 time-varying system Definition: If there exist such that for any . The system is said to be controllable at Theorem 3-1 The time-varying system is controllable in the time slot iff the Gram matrix is non-singular. Proof: if part let , we can get only if part assume controllable is singular, there exists non-zero vector such that . Since We get . Let Example 3-1 Sufficient condition test For Let If , the system is controllable. For example 3-1 Controllability of output Definition: If there exist such that for any given . The system is said to be output controllable at Theorem 3-2 The time-varying system is output controllable at iff there exists , the rows of the impulse response matrix are linearly independent. Proof: if part Assume the rows of are linearly independent is non-singular, let Only if part: Assume are linearly dependent. there exists non-zero vector such that . Then 3.1.2 Controllability of LTI system: Theorem 3-3 The following statements are equivalent: LTI system is controllable. Matrix is row linearly independent. Matrix is row linearly independent. Gram matrix is non-singular.