ECE 550 LECTURE 14 1 We once again consider the linear, tme-imveri= ant dynamveal equahon ve EGY = Axte) + Bult) = gird = Cx G4 Duce) @) where A,B,C, and Dare nkn,nxp, qxn,and qx p reel constant matrices , respectively A relevant question to ask is whatcan be said /f the dynamical equation 1s uncentrellable er un= observable , or both. We shell now consider this question, In what Follows, note that ¢ willbe used te stand for controllable, F fer uncontrel- lable , © for observable, and 5 for unobservable. Consider equations OD and@® above. If the controllability matrix PL hes rank n, Cwhere nén) then there exists an equivalence trans- formotion ZF = Px, where Pis a constant, nen- singular matek, which transforms the dyna- sls] - [31 micel equation mte al >I ptECE 550 LECTURE 14 + LG ery Re ] + + Du BE = 7) and the n,-dimensional subequation ~ eee ..® G+ De aO) 13 controllable and has the same transfer Funecon matrix as equations @ and@. Note that the equivelence transformation sve. Fe Px, diides the stote space into two subspaces. One subspace 1s the n-dimensional space which consists of all the vectons |@ while the other subspace 3 the Cn-n,?-dimen= sional space which consists of the vectors [re] Returning te equetien ® we note thetEce 550 LEcTURE 14 affected directly by the input wor indirectly through the states 25. Thos, 2° 1s not cone trelatle and se itis dropped from the reduced equation ©. Hence, by proper cherce ofa basis, the dynamical equation can be separated inte twe groups ~ one controllable, the other encon- trellable. By dropping the uncontrollable state vectors, we cota a controllable. dynamical equation of lesser dimension that is eero-thate equivalent te the eniginal equation. Let's take an exemple ° | oo [ t I” o 7 1 The controllably mate ecbeine]e [1 -] 1 ost which has rank |. Let the equivalence: trane- form be given byECE 550 LECTURE 14 Note thot the First column of Q corresponds to the first column of P, gj since this the only. linearly independent. column. The second column of @ is chosen arbitrarily te make @ nonsingular Performing the equivalence transform, we get Note thet the transformation changes the. basis of the state space from the orthenermal vectors, [oJ [0] to the set of vectors 1 1 1 : ° The resulting state variable %, Ct) 2 controllable By similar considerations, we can address ob- servability. fthe ebservebiludy matin PyECE 550 LECTURE 14 hoe rank na Cwhere npind, then there exits an equivalence transfermation E= Px thet Atransfeems the original equation nto As before, the vector Z® doet not appear di rectly Th the cetpot y ner indirectly theaugh %*%. Thos, HF it not observable and is drepped wn the reduced equation Consider equations® and © ager, by equivelence transfermotions we canobtan the Following oe ened eens te eeECE 550 LECTURE 14 6 \e ge Lo & é,]% + du .@® where Eis controllable but not observable, EP controllable and observable, and BF ss not Sentesiicble Merce, the to Cae Conan. of equations O and © 13 B, (sr-A,' 8+ D (O) Note thot equation @® only depends on the. controllable and observable part of the dynami- calequation. In other words, the impulte-reepense: matrix Cinpot-eutpot deseription ) deceribes only the part of the syeten that is controllable and observableECE 550 LECTURE 14 Graphically, we can represent this reselbas follows + ae era We conclude thet (fa linear, time-invariant dyna- mical equation te either uncentrellable on unob- servable its dimension can be reduced sech that the reduced equation still has the tame seronttete. response. Thus, 9 [inter Henecimvaniant dynamical equahen is said te be reducible, 1ff there exite a linear, timeninvariant dynamical equaten of nm that tercstate equivalent lesser dimens te the original equa Otherwise , the equaten is said to be IrredvcibleECE 550 LEcTURE 14 We may conclude that 0 linear, time-invariant dynamical equeten te irreducible iff i413 controllable and observable. One mere, observation: let the dynamical equation £A,8,¢, D3 beanieredvei ble realization of 0 4X p proper rational matrix Gis), then £A,B,E,B3 ts also an irredvei ble realisation of SCs) FE £A,8,c,03 and £K,8,E,B4 are equivalent; Ne. there exrets a nensingular constant matnn P such that As PAP", B= PB, ECP, and B= D. é€