ECE 550 LECTURE 18 Let's consider an n-dimensional, [near, Hime ~ invariant, single -variable dynamical equation kt Ax tbu © yr ex tide where Ayb,c,ond dare respectively nin, mx! Ixm ond Ix real constant matrices. Let the. Following dynamical equation © be an equivalent representation of equetion@, which ' ebbamed through an equivalence: trans- fee E+ Px = Q'x --.@ where PS Qs @ non-singular constant matrix Thos, we have thet PAP" 666ECE 550 LECTURE 18 The controllability matrices of equations@® and @ are, respectively Slo AG Aco] © = PU: QU =) If equations © and © are controllable, then the controllability matrices U and U are nen- singular. Hence, from equation@®) we have thet p= out @) q:uo" . © Similer if Vond V ere the ebservability oad matrices of equations ® and@), respectively, thenECE 550 LecTURE i8, @® Now, if equations © and © are observable , then -@® arv'y © Equations @ and equations @ ona@® can be used to obtam the equivalence trans- formation P between equotions@® and@®, if are known to be equivalen: andi hes they ‘ ke. 4) lent and Ff they are either controllable or observable. This con alse be applied to the multivariable case. Tee ele Oe eo el bet Ute nota square matrix. But, from linear algebra we have +ha+ Gu" = puu* _..@® where "denotes complex-conjugate transposeECE 550 LECTURE 16 Hence, p= Gu’Cuur) .. © Let the choracteristic polynomial of equation ® be AQDY= det (at-A) If we apply onequivelence transformation te equation © and provided that the dynamical equation is controllable, then we sbtan the sentrellable canomiael Form , ie °° °° oooLECTURE 18 . olf Pe A) Note that wijajciyaq ore the coefficients of the characteriste pelyremial sve. the coo ffici- ents of equetion@, The p,'s ore computed using equation ©). The transfer function is Bist t+ Bess +--+ Bn 968) = Seas eae Because equations © and ® are equivelent, they have the same transfer function. Recall thet o linear opemater can be re-expressed bya change of basis, which 3 the same az an equivalence trent form. Let us cheore the fallewing new basa is gio ae A eet kc G2 Agta, q"= A*b+a,Abta,b que Ag te que Ab oe cDFor example , LECTURE 18 ° ° & Age CAM 4a AN 4 ota A ta, Db abECE 550 | LECTURE 18 Ag= 1 oie faa ae) |e ° oe . ° [ie = Dai gt---g]] 2 i a Hence ,ifwe choose §q', 97, °-7, 47} aa a basis, then Aand b have new representations A and B given by equations ®@ and ©, respectively. E is computed from ¢Q. The resulbis the controllable canonical form: Let us now consider an equivalence trans ferma- ton that puts the dynamical equation in the Following formECE 550 LECTURE 18 oe. Ba Cee |e Pot Om tea lB + | yi loo ot]ie da ..-@) This 's the observable canenical farm. Again, the form of the transfer Function is geen by. equation @), The equivalence transfenm ts Let's consider an example. err gi loouds We first find the charecterstic polynomial beEck 550 LecTuRE 1@ 0 ¢ Art -2 00 ACa)® det] -3 ati -t Jo es w-ane220 The controlla~ Se thet, 4,72, a,2-4, bility matrix vs De | te 8 12 nes Thee, And, 1 ce=Ee,e.pJela2s]Ece 550 LecTURE 1@ e@ The contrellable canonical form is The observable canonical form is o 0-2 2 Sea le lala eS 1 grleoorl: Ix The trensfer function is ste2s43 gC * Sasa e