4.

Controllability A control system is said to be completely state controllable if it is possible to transfer the system from an arbitrary initial state to any desirable state in finite time period (in a finite sampling periods). That is a control system is controllable if every state variable can be controlled by applying some unconstrained control signal. If any state variable cannot be controlled by an input signal, then it is impossible to control this state variable and the system is uncontrollable. Consider the system x ((k  1)T ) ! F x(kT )  G u (kT ) x ( k  1) ! F x (k )  G u (k ) The solution of the state equation is x(nT ) ! F x(0)  F n  j 1G u (n)
n j !0 n 1

! F n x(0)  F n 1G u (0)  F n 1G u (0)  .....   FG u (n  1) u (n  1) u ( n  2 ) n n 1 x (n)  F x(0) ! [ F /FG / ...... /F G ] / u (0)

From the above equation it is clear that if all the columns of the nXn matrix [ F /FG / ...... /F n1G ] are linearly independent, all the state variables are uniquely effected (controlled) by the application of the input. That means the

rank of the above matrix should be n. This rank condition is then a sufficient condition for the controllability of the system. Is this condition necessary? Now, let us assume that the rank of the above matrix rank [ F /FG / ...... /F n1G ] < n