Cheat Sheet

Solutions to LTV State equations

Stability
Controllability and Observability

PBH rule

Jordan Form Test

Observability-

Kalman Decomposition-
Controllable Decomposition

1. Form the controllable matrix P. Find rank of P. if its less than full rank. Make a matrix M which is
full rank.
2. Then, write in form

Transfer Function

Observable Decomposition, Similar to Controllable

1. Form the observable matrix Q. Find rank of Q. if its less than full rank. Make a matrix M which is
full rank.
2. Then, write in form

Full Decomposition

Realization
Transfer function to state space

is a realization for a qxp matrix G

Controllable Canonical

This is another way to arrive at this form

Observable Canonical