Ece 550 LECTURE 12 We now wish to consider the isves of contrella- bility and observability. We will examine both the continvevs-tme and discrete-time cases Let's begin with some definitions. A state x, ofa eystem is said te be controllable at time t, Cong for discrete systems) if all initiol conditions x, at tmet, Cn,) can be transferred to x, ota Finite time t, by a input vector a Cte jt,] Culnesnd) . Otherwise, the state te termed yncontrolleble at hme t, Cre). If oll system states are controllable, then the System 5 said to be comp tely sate controllable or gust controllable If the atote x, 1s controllable, and if x, cen be transferred te x, as quickly as Meeced ade pendent of t, Cag) instead of ih seme finite then the state is said te be total time controllable or differentially controllable. If all system states are totally, controllable, then the system 13 totally state controllable.Ece 550 LECTURE 12 A state x, ofa system ss acid te be observable at time £, Cnc) if knowledge of the inpet uct) [uted] and eutpet gir? CL ytr?Tever afinite time £22 e424, Dre n én] com- pletely determines the state x. Otherwise, the stote is said +e be unobservable, If all ayotem states are observable , then the system 13 said to be completely observable on gest observable - If the stote x, 15 observable, and sf knowledge ef the input and the cutpot ever an arbitra small interval of time suffices to determine y independent of t, Cn), then the state %e ‘said tobe totally observable, on differentially observable Wallthe stotes x, are totally, observable , then the system ss sad tebe totally observable. Given these definitions, let's considera time - ravariant sy stem . distinct eigenvalues. We shall examine it's controllability aad observability «Eck 550 LECTURE 12 Let's stort with the issue of contre lla bilby. The controllability of a time-invariant syetem depends only on the constant matrices A and B and ne reference need be made to the time interval Leo, t,] or Ene, nid. In thd case, complete controllability ss equivalent to total controllability. Since all the sigenvelvee are dishinet, the Jordan form 1b a diagonal mates, and the stete equation is said te be uncoupled. We have for the continuous-time case. heey e Thar + Bue ..® yO + Cha) + Bucy -. ® Or, forthe discrete case, Renard s Then + Buln) -® gnd= Chen + Duar = @) medal matrx of eigenvectors, Me Gee ee Bev. Note thet T= diag(a,,n ae this caseECE 550 LECTURE 12 A timecinveriont system described by equations, Dond® above , or Oand@ above, for which A has distinct eigenvalues 1's totally contrelable iE there are no sere rows in B= MB. Let's take on example: xG@)> fo 1 xa) + fo ee fs uct) 3-4 1 The eigenvalues of Aare a= AUF -3. Thes, evr assertion above is applicable. We have that wTia] ell] bee el Eel Because both rows of B are non-zero, the system ts controllable. We could have determined this by inspection, because the original representa- tien 13 im phase-vaniable: fomm which avtemoti- cally makes the system controllable.ECE 55° LECTURE 12 Now ler's change B to the Following: Be i] Repeating sor celevlatiens bees [EDL] Be M'B= - [ “Va ~“2 dL- ° Note tha representation produces an uncontrollable. system, Also note that Bs equal te ene of the eigenvectors. In fact, Fwe replace 8 fee as, alee obtan an uncontrollable system. This by the second eigenvector y result & ne comeidence. A timesinvamant syetem described by equahens Dand@ obeve por Oand@ above, for which A has distinct ergenvalues , i totally observable iff there are no gere columns in G=0M. Again, let's take an example : o> 3 Ron tis Kin) + uG) oo 4 o2|7 TG oon we ra Oe) Eee linea)ECE 550 LECTURE 12 The eigenvalues of A are A,=-1, 245-2, and ar-3 Once again jour original assertion is applicable We have +hot Cy -l 0 6 Mz ca lee eo 0-2 0 ag J ) Hence, G@acue Gi 6 i) 3 5 | foe ied eeemiecaeee Since no column of € ub ero, we conclode thet the system 1s observable. Whot if we change C te C+D 1 © -11, Repeating our colevloton ,we find that 620.0 -3-81. Hence, this system a unebservable, because. the ficet column of & has a gere entry. Although this methed provides Mmsight inte which states ove evther not controllable Caer row in Bor net observable Cacre column in E), it requires computation of the medal matrix M , and i+ sa limited te the case of distinct eigenvalues. ‘ECE 550 LECTURE 12 If we ore mot concerned with which particclar atetes are controllable on observable , then a more dinect methed ss available using the orginal representation, le. constant matrices A,ByandC. Letus first consider controtiability. The linear tine invariant system deseribed by equation £bIF Ax) + Bult) or equation xinti= Axa) + Buta) 1b totally controllable iff the nr X Cap) gentrellability matrix Phas ronk n where B] Pleas a’a--- a and where A 1s an nun constant metrx, Bis an nxpcenstant mate, x 1 an n-vecter, and % ba p-vector. Let's consider our prion example which wasa twe-inpot one-outpet system. Calculating a we hove thet oe Hob frtz -28 ier 148 8 AB AB i i : [ot ot tea -28 iECE 550 Lecture 12, Note that P. is 0 rectangular CaxG)matma. If the system is controllable then the rank of RP, mush equal 3. This means that there must be three [nearly independent columns im PL or equivalently we must Lind a 9x3 mati based en the columns of PL whose determinant does not equal sero. The first three columns of P. satisfy this requirement ee -25 #o Hence, the system is alse found te be contrella- ble by this direct methed. Let's consider an example with repeated rects. Hence jour first methed 1s net applicable. Let oe We note thet the ergenvalues of Aare 2,2 Forming P. 2 we ebtornEck 550 LECTURE IZ BAB det PL 2-440 Hence, the system 1s controllable. Latus new turn te the issve of ebservebility vsimg the dircet method. A time-invariant system with p inputs and q outputs desenibed by evther RG) = Axe) + Bucey oe) B@)*C xa) + Ue) © KGa) = Ax(nd + Butn? 3) Bor? = xen Ducar totally observable (fF the (ng)xn observa-ECE 550 LECTURE 12 It Let's consider an example: fo-2 -2 0-1 fo yore Lio o Jaw c [ eo Pack ee eee ee all ore GO det+ PL = GH Hence the system i observable. Is + con- trellable 2 To answer this question, we fonm Plus ol <2 Po be Ae ate) = | oo 12 4 We can immediately see that the rank of PL equals 2, because column three 15 twice column two. Thos, the systems not contreliable .ECE S50 LECTURE 12 1 het's explore this further using sur fivet methed. First, we find the eigenvalees ve A,FO, 2L52,aZzHZ- The medal matnix and Seordan Ferm are fo4 =a © 6 6 Me as a e206 oO -2 -2 oe 0-2 in a Now we compote. Band S: foes pees ° | 2 ee |e “2 -2 © i te =| -"e °ECE 550 LecTURE 12 Note thot the mode asseciated with A=-215 ebservoble but not contrellable. Let's look at the transfer function sr2. Gls)= ohcsB = ~ Bteravs-2> I! 7 “ste=2) 5 Since, This han example ofa reducible system the syetem can be deseribed bya second-order representation or state-space equation: We will discuss this sve Further ina future lecture. 1