3/10/2016

CONTROLABILITY AND
OBSERVABILITY

Eduardo Fernndez Camacho

Dpto. Ingenieria de Sistemas y Automtica
Universidad de Sevilla
efcamacho@us.es
www.esi2.us.es/~eduardo/home_i.html

Outline

Stability augmentation systems

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Solution

Solution II

(2.65)

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Solution III

Example

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Matrix exponential
Homogeneous equation

Suppose that:

Therefore:

With:

Matrix exponential

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Matrix exponential (properties)

Controllability
Can we take the system from any x(0) to any x(t) ?

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The Cayley Hamilton Theorem:

Any square matrix satisfies its characteristic equation

= + 1 1 + + = 0

+ 1 1 + + = 0

= 1 1



= = 1 1 + 2 2 +
!
=0
= [1 2 ] [1 2 ]

Controllability

()
0 = 0
=

= [1 2 ] [1 2 ]
0