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（3）.ppt

Modern Control Theory Lecture 9 Modern Control Theory Letures Notes Coryrighr@Xiaodong zhao 3.6 structure decomposition 3.6.1 controllable structure decomposition Theorem 3-17 For non-controllable LTI system if then there exists non-singular linear transform such that The system is decomposed into controllable and uncontrollable subsystems: Controllability doesn’t change Transfer function doesn’t change Example 3-13 3.6.2 observable structure decomposition Theorem 3-18 For non-observable LTI system if there exists non-singular linear transform such that The system is decomposed into observable and unobservable subsystems: Observability doesn’t change Transfer function doesn’t change Example 3-14 3.6.3 controllable and observable structure decomposition Theorem 3-19 For non-controllable non-observalbeLTI system if then there exists non-singular linear transform such that The system is decomposed into 4 subsystems: Step by step structure decomposition Step 1: Controllable decomposition Step 2: Observable decomposition of the above uncontrollable subsystem Step 3: Observable decomposition of the above controllable subsystem Finally, we can get Example 3-15 For controllable subsystem Arrangement Transform Decomposition Step 1: translate the system into canonical form Step 2: Test the controllability observability of each state Step 3: rearrange all state according to the order Example 3-16 3.6.4 System Realization For a given transfer function if there exists then the state space equation is a realization of Conditions to find a realization: For each element of , the coefficents of its numerator and denominator are all real cons