电子社现代控制理论基础（英文版）（第2版）mooc课件4-2-3.pptx

L4.2.3 Principle of Duality Observability is a property of the coupling between the state and the output, and thus involves the matrices A and C.Controllability is a property of the coupling between the input and the state, and thus involves the matrices A and B.L4.2.3 Principle of Duality Definition（Dual systems）：Two linear systems and are said to be dual if , ,and . DualL4.2.3 Principle of Duality Controllable canonical formObservable canonical formDualL4.2.3 Principle of Duality The controllability matrix of isThe observability matrix of isThe controllability matrix of isThe observability matrix of isWe see that andL4.2.3 Principle of Duality Theorem: If two n-dimension linear systems and are dual systems, then(1) The system is controllable if and only if the system is observable;(2) The system is observable if and only if the system is controllable.L4.2.3 Principle of Duality The dual systems have some properties as follows.The block diagrams of system and its dual systemare shown The block diagrams show the duality of dual systems.L4.2.3 Principle of Duality The transfer function matrices of dual systems are mutually transposed with each other. Dual systems have the same characteristic polynomial.L4.2.3 Principle of Duality Theorem: The controllability and observability are invariant under any linear transformation, which is also called the equivalence transformation.Controllability and observability are two qualitative properties of linear control systems.