_ Controllability and Observability of State Space Models Modern Control Systems Prof. Zaer Abo Hammour Prof. Zaer Abo Hammour Modern Control SystemChapter 6: Controllability and Observability of State Space Models Table of Contents Prof. Zaer Abo-Hammour Modem Control SystemsChapter 6: Controllability and Observability of State Space Models A system is said to be completely state controllable if it is possible to transfer the system state from any initial state x(¢o) to any other desired state x(¢,) in a specified finite time interval (to < t < T) by unconstrained control vector u(t). otherwise is not completely state controllable. Consider a multiple input linear time invariant (LTTI) system represented by its state equations as. (0) = Ax(t) + Bu(t) 6.1) Ais (n x n) state matrix Bis (n x m) input matrix u(t) is (m x 1) input vector x(t) is (mx 1) state vector the state controllability tests of State Space Models is based on two main methods: - Kalman’s test for controllability. this method is applied to any form of matrix A whether A is canonical form or otherwise. Gilbert’s test for controllability. this method is based on transforming the matrix A into the diagonal canonical form (DCF) in case of distinct eigenvalues, or into the Jordan canonical form (JCF) in case of repeated eigenvalues. afier that, the test is used to determine the state controllability of the system. Uncontrollable System: An Uncontrollable system is a system that is physically disconnected form input. Consider the circuit shown in figure 6.1(a) 1. Its state variable x is the voltage across the capacitor 2. If x(0) = 0, then x(t) = 0 for all t > 0 no matter what input is applied This is due to the symmetry of the network, and the input has no effect on the voltage across the capacitor, Thus, the system (state equation) that describe the system is not controllable. Now consider the circuit shown in figure 6,1(b) 1, Ithas two state variables x, and x as shown, 2. The input can transfer x, or x2 to any value, but it cannot transfer x, and x, to any values For example, if x,(0) = x,(0) = 0, then no matter what input is applied, x(t) always equals x2(t) foe all ¢ = 0, Thus the state equation that describes the network is not controllable. Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models () Figure 6.1: Uncontrollable Electrical Circuit Find the controllability matrix (Qc) of the size n x (n x m) according to the following: Qc=(B AB A*B ABB An1B} (6.2) Find the rank of the controllability matrix (Qc) The necessary and sufficient condition for the system to be complete state controllable is that the rank of the controllability matrix (Qc) is (1) if the rank of the controllability matrix (Qc) is less than (nm), then the system is not completely state controllable. Kalman’s test for controllability can be applied to any form of matrix A whether A is canonical form or otherwise The controllability matrix (Qc) is square matrix if the system is single input only, while it will be rectangular matrix of the size n x (n x m) if the system has multiple inputs. If the system is not complete state controllable, then this test does not give which state(s) are uncontrollable and the rest of states which are controllable. The matrix Qe has a rank (7.) means the determinant of order (n x n) of any sub matrix of Qc has nonzero value. If Q¢ the rectangular matrix (non-square matrix) of the size n x (nt x m), can be obtain the square matrix by (M = QcQE ) or (M = QEQc ) and there two possible cases. Case I: square matrix (M) with (n) dimension Case II: square matrix (M) with (n x m) dimension And always choose the case with minimum dimension, Usually for controllability test use (M = Qc QE ) Check if the determinant of matrix (M) is nonzero then the matrix Qc has a rank (12) Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models _————Eeee It is assumed that in the given state space model (A, B, C, D), the matrix A is not in the diagonal canonical form. if the matrix A is in the diagonal canonical form, then the transformation matrix is the identity matrix ( 71), and the test can be applied directly without any transformation (goto step 5 directly with A, = A, B, = B, C; = C.D, = D) Find the eigenvalues of matrix A I. _ if the eigenvalues are distinct, then proceed in the next steps Il. _ if'some of the eigenvalues (at least two) are repeated, then stop since the given state space ‘model cannot be transformed into the diagonal canonical form (DCF) Find the transformation matrix T which can be found using one of the two methods: I T= M. inthis case, the transformation matrix T is the Modal Matrix of A or the matrix that is obtained from the eigenvectors of Matrix A. Let Ay.Az.~*-aq are the (m) distinct Eigen values of the matrix A, while My. Ma.-~. Mz, are the Eigen veetors corresponding to the Eigen values Ay.d..-*.An respectively, then the Modal Matrix of A is given M=(M, Mz ~ M,) T = V. in this case, the transformation matrix T is the Vander Monde Matrix of A as given below. 7 ai ia 1 A, A, Ag an 2 43» ae | = Vander Monde Matrix ag-h gget gy ae Find the transformed matrices (Ay, By, C;, D,) of the diagonal canonical form as given below A, = TAT = Diagonal Matrix B,=TB C.=CT, D,=D The system with distinct eigenvalues is completely state controllable if and only if no row of B, = T-1B has all zero elements. To apply this condition for complete state controllability, the matrix Ay = TAT should be in the diagonal form. this means that the eigenvalues of matrix A should be distinet eigenvalues. If the elements of any one row of the (n X m) matrix By are all zero, then the corresponding state variable cannot be controlled by any of the 1 Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models It is assumed that in the given state space model (4, B, C, D), the matrix A is not in the Jordan canonical form. if the matrix 4 is in the Jordan canonical form, then the transformation mat the identity matrix (77 ), and the test can be applied directly without any transformation (go to step 5 directly with A, = A, B, = B, C; = C,D; = D) Find the eigenvalues of matrix A I. if all eigenvalues are distinct, then stop since this canonical form requires at least two repeated eigenvalues. Il. _ if some of the eigenvalues (at least two) are repeated, then proceed in the following steps. Find the transformation matrix T which can be found using one of the two methods: - I. T= Gy. inthis case, the transformation matrix T is the Generalized Modal Matrix of A or the matrix that is obtained from the generalized eigenvectors of Matrix A. I. T= Gy. in this case, the transformation matrix T is the Generalized Vander Monde Matrix of A as given below: 1 4 aR 4 Lata (=D! dA, where eigenvalue (A,) be a repeated eigenvalue for (r) times, and the remaining eigenvalues are distinct, then the (2) eigenvalues are Ay.Ay.-*-Ay-Arsie** An 4, Find the transformed matrices (Ay, Br, C;,D,) of the Jordan canonical form as given below A, = T~!AT = Jordan Matrix = J By =T"'B C, = CT, D.=D The system with repeated eigenvalues is completely state controllable if and only if No two Jordan blocks in J are associated with the same eigenvalues. ‘The elements of the row of B, = T-1B that correspond to the last row of each Jordan block are not all zeros. IIL, The elements of each row of B, = T-1B that correspond to distinct eigenvalues are not all zeros. To apply this condition for complete state controllability, the matrix A, = T-AT should be in the Jordan form. this means that some of the eigenvalues of matrix A should be repeated eigenvalues. If the elements of any one row of the (n x m) matrix By = T-1B according to condition IT and TI above are all zeros, then the corresponding state variable cannot be controlled by any of the w; Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models | | « Problem For the system of order n = 2, Starement 00 =[) AMEE] + [t]x0. Requirements Check the controllability of this system. * Solution a-f 4) e=f The composite matrix (Qc) = [B AB] ap= fF AI= (4) e=[} “| 1 Now I@c| =1 which is nonzero * Problem For the system of order n = 2, Siaenen a= [hE] + E]uco. ‘* Requirements Check the controllability of this system. * Solution 11 _[t b =) =I The composite matrix (Qc) = [B AB] the rank of Qo = 1 # n; The system is not completely controllable es Example 6.3 EEE * Problem A linear dynamic time invariant system of order n = 3, is represented by Statement 0 1 OVP] fo 4 X(H=|0 0 Life} +]o Olu 0 -2 -3lbs! li o. Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models '* Requirements Check the controllability of this system. + Solution iD) aie 0 Oa A=|0 0 1 B= ° 7 0-2 -3 The composite matrix (Qc) = a a AB] ome 70) awh 0 ik j- [:, | 0 -2 -3 A’B = A[AB) uf o|= | | 2 -3ll-3 0 o 10 01 Q=]0 0 1 0 -3 a 10-307 0 In this case we take any random three nonzero columns, 0 1 0 The determinant, of square matrix (3 x 3) |o 0 1 which is nonzero; 0 10010 onw=aor=[0 0 1 0-3 0| 10-307 0 -3 «7 IM| = 10-24] = 1540 7-24 59 ‘The rank of Qc = 3 = n; the system is completely controllable * Problem Consider the inverted pendulum, in figure E.1, Suppose for a given pendulum, the Statement _state space representation given by O1 0 O7/*r o 0.0 -1 0} |x 00 0 1)/*3 O00 5 O1lXs. ry y=f1 0 0 a] W fe + Figure E.1: Cart with inverted pendulum Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models '* Requirements Check the controllability of this system. * Solu The composite matrix (Qc) = [BAB A?B A°B] 0 2] i}-[4 0 -10 =2. 0 Now [Qc = 36 which is nonzero, the rank of Qg =4=n Thus the system is controllable. Therefore, if x3 = 0 deviates from zero slightly, we can find a control (1) to push it back to zero. In fact, a control exists to bring x, = y .xg and derivatives back to zero, Le Example 6.6 [een * Problem Consider the satellite system shown in figure E. 1, The state space representation Statement _of this system is given by This system is a MIMO system with two inputs and two outputs. Form the equation, we can see that the control of the first two state variables by the first two inputs and the control of the last two state variables by the two input are decoupled Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models Figure E.1: satellite system ‘© Requirements Check the controllability of this system * Solution The composite matrix (Qc) = [ 0 1 0 07/0 0 _|3 0 0 afro wf 8 eies|- 0-25 ollot 1 0 0 A°B = A[AB] = AB ARB] SENSI Ts SSas' To Sook On Oo Monnoe aon s T Soyeens 2 0 0 0 APB = A[A2B] = ny 0. } the controllability matrix order is (4.x 8) oSoue TI Re q 0 1 me , con wr = ly SOR con ouNe 00 02 o1 5 0. 0 0 02 on 5 0. -10 08 op] -8 0. 2 Sores Scrnor ooo ° Sere Roof boom 10 0 0 0 0 -2] [6 0 o 14) 2 1 0{_]o 70 12 0 -1-2 0/ Jo 126 0 o 0 4] lio o 8s 0 0-8 10 6 0 0 14 _}0 70 12 0 IMI=19 42 6 0 14 0 0 85 which is nonzero, the rank of Qc = 86664 #0 Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models * Problem Consider the system with state equation: Statement Hi] [0 1 07/%7 [0 %[=|0 0 1] }x2]+lolu ta] L-6 -11 -olle! li ‘* Requirements Estimate the state controllability by i) Kalman’s Test ii) Gilbert’s Test Kalman’s Test o 1 0 0 0 0 i] B 0 -6 -11 ~6 The composite matrix (Qe) = [B AB 428) wl SBE wa-aan=[ 0 1|{1)-[-¢ Ci 1 Q [ 1 -4| 1-6 25 De al Now IQc]=|0 1 -6] = 1 ; the rank of Qo = 3 = 1-6 25 Thus, the system and state equation is controllable. ii) Gilbert's Test For this it is necessary to express A in the canonical form. Find eigenvalues of A eaten) la—al=]o A -1 l6 11 ate +642 +11A4+6=0 + DAF2)A +3) =05 4, = -1.A, = -2.45 = - As matrix A is in phase variable form, the modal matrix P is: ee eee T=|Ar a2 dal= [-: -2 “4 Ai a a mas “IA-C As none of elements of B, = T~"B are zero, the system is completely state controllable. Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models * Problem Consider the system with sae rep aoe Statement ba 1 a) [0 -11 ‘ %2] + JO] u(e) -11 rs} Li yO=T1 0 mi xs. ‘* Requirements Check the controllability using Gilbert test? + Solution 1. Find the Eigenvalues of matrix A lal— Al =0 A 0 0 oO 1 -1 A -1 1 aa a o|- -6 -11 6 |e ati | 0 0 A -6 -11 5 6 11 Aa-5. 1001 atu = a-Si B+ 62 + 11046 (A+ IA + 2)(A +3) = 09a, = -1,a2 = -2,43 = 2. Find the Eigenvector ee For Ay = -1.> [4,! — 4] 10 -6 11-6 Ci) fey ft wfee]=L]-f G3} lel lt For dz = ~2.> [Al — A] “Eel For dg = -3.> [Ag — A] = “-Eel-La-E 3, Determine the transformation matrix T Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models 4, Determine the transformed matrix By 3. 25 -2)/0) [-2 a-ra-[-3 4 3 fo|-[ 3] 1 15 -il} b-1 As none of elements of By = T~"B are zero, the system is completely state controllable. «iY Example 6.9 _ Problem Consider the system with state representation: Statement ey 0 1 Of 1 %2]=]0 0 1 | ]*2] + Jo} ule) x3. 4 -9 —6)1%3, 1 iy yO=l 0 0) [:| Xa, ‘* Requirements Check the controllability using Gilbert test? © Solution 1) Find the Eigenvalues of matrix A lar— al =0 A 0 Oo} fO 1 OF fa -2 al-A 0 2 o-[o 0 1] [ a oo al La -6 la 9 at -2 0 lai -Al Aoo-1 34 A+9I B+ 602490+4=0 A+)A+DA+D)=054,= 2) Find the Eigenvector 9 2 4-1 0 Ford; =-4.> [4-4] =] 0 -4 =| 0 ELE For dz = —1.> [Ay! — A] Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models For a3 = -1.> repeated dC, /daz 2A, +6 Ms = [ecru =| 0 dCs/daz) 1-4 Ih, 3) Determine the transformation matrix T 11 T=|-4 -1 0 16 40-1 0.1111 0.2222 0.1111 T+ =|-0.4444 -1.8889 -0.4444) 1.3333 1.6667 0.3333 4) Determine the transformed matrix By 01111 0.2222 0.1111 if [ss B,=T"'B =|-0.4444 1.8889 -0.4444] 1.3333 16667 0.3333 —0.8889) 1.6667 “+ A system represented by a transfer function (for SISO case) or a transfer matrix (for MIMO case) is Completely state controllable if and only if the denominator and numerator polynomials of the transfer function do not have a common factor, except the constant. There should be no pole-zero cancellation in the transfer function of the system for complete state controllability. If pole-zero cancellation exists, then the system cannot be controlled in the direction of the cancelled mode, Consider the following transfer function ¥(s) | s+2. U(s) (s #2.5)(s—1) cancellation of the factor (s + 2.5) occurs in the numerator and denominator of this transfer function, (Thus, one degree of freedom is lost). Because of this cancellation, this system is not completely state controllable. The same conclusion and be obtained by writing this transfer function in the form of a state equation. A state representation is. Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models Pa L's -islkal+hl« Since a eee 1qj_e 4B = (5 aaslil=f aft 1 erly 1 The rank of matrix Q. is 1. Therefore, we arrive at the same conclusion: the system is not completely state controllable. + for output controllability, it is necessary to control the output variables rather than the state variables, * the given state space model (A, B, C, D) is said to be completely output controllable if it is possible to construct and unconstrained input vector u(¢) which will transfer any given output y(t) to any final output y(¢,) in a finite time interval (fo < ¢ < ty) The output controllability matrix Qco of the order of ((n + 1)(p x m)) assuming m inputs and p outputs is given as Qco= (CB CAB CA’B CA*B CA""1B DI (6.4) The necessary and sufficient condition for the system to be completely output controllable is that the rank of the output controllability matrix Qco is (p). * Problem Consider the system with state representation: Statement x-[2 1 1 a-[P Sele y=(1 -1)e ‘© Requirements Evaluate the state controllability and output controllability © Solution State Controllability The composite matrix (Qc) = [B AB] ao=[P Alol- [71 ee=[o Tl Now IQel = | 7 | = 1 sthe rank of @ The system and state equation is controllable Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models Output Controllabi The composite matrix (Qc) =[CB CAB D] cB=[1 -u[j]=1 a -2 1ypy_ 2 cap=1 -u[7? 4 ][l=0 -n[7]= Qc =[1 -3 O] Now; The rank of Qo = 1 = p; ‘The system is Output controllable. Problem Consider the system with state representation: Statement [° o 0 1 0 t=]0 -2 ofxt+l1 2 oo -3l | 4 ae 0 0} 31 sl*tlo ol* Requirements Evaluate the state controllability and output controllability Solution State Controllability The composite matrix (Qc) = [B AB —1 0 oy Oo —1 an=[o = oft 2|=|-2 o o -3il2 al le i = A’B = A[AB] =| 0 10 w= 2 2 10 2 4 3 7 28 ORM =Q.QF =|1 2 4 -3[=| 7 108 172 2 1 4 18 26 172 4551 8.9 7 i 25 7 105 172 23906 +0 26 172 455) which is nonzero, the rank of Qo = 3 The system and state equation is controllable Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models * Output Controllab ‘The composite matrix (Qc) = a CAB CAB DI _ft [° e=[ tg if ri aa 1 le 15 10 6 cas = [} Gia 19! lee) 3 1 5 @=[§ #718 “10 41 260 oF eb een -19 97 530 0 14 ; the rank of Qe cae = |, | fi * Problem Consider the system with state representation: Statement i oo 40) t=|1 0 -3|x+]10/u 01 -4 0 =[0 0 1x ‘* Requirements Evaluate the state controllability and output controllability © Solution * State Controllability The composite matrix (Qc) = 2 AB AB) ole lta A°B = A[AB] = [o = uf 0 40 0 0 Qc =|10 40 -30 0 10 0 nr) Now [Qe] =]10 40 —30] = 12000 ; the rank of Qe 0 10 0 The system and state equation is controllable Output Controtlabi The composite matrix (Q-) =[CB CAB CAB D] Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models 40) cB=(0 0 1) [i|-0 CAB=[0 0 afi cAB=[0 0 abs of=0 0 Qc =[0 10 0 0} Now; the rank of Qc = 1 = p; The system is Output controllable. Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models A system is said to be completely observable, if every state x(¢,) can be completely identified by measurement of the output y(t) over a finite time interval (t > to)assuming that the control signal u(f) is also available. + Observability is related to the problem of determining the system states by measuring the output for finite length of time. The concept of observability is dual to that of controllability. Controllability study the to control the state from the input, while the observability study the possibility of estimating the state from the output. Controllability and Observability are defined under the assumption that the state equations or equivalently all matrices A, B, C and D are known. The problem of observability is different from the problem of identification of the A, B, C and D matrices from the information collected at the input and output terminals, when the system is not completely observable means that few of its state variables are not practically measurable and are shielded from the observation, state observability tests of State Space Models is based on two main methods:- 1, Kalman’s test for observability. this method is applied to any form of matrix A whether A is canonical form or otherwise. Gilbert’s test for observability. this method is based on transforming the matrix A into the diagonal canonical form (DCF) in case of distinct eigenvalues, or into the Jordan canonical form (JCF) in case of repeated eigenvalues. after that, the test is used to determine the state observability of the system, Consider the electrical circuit shown in figure 6.2. If the input is zero, no matter what the initial voltage across the capacitor is, the output is identically zero because of the symmetry of the four resistors, We know the input and the ‘output (both are identically zero), but we cannot determine i= uniquely the initial state. Thus, the network (the state 4 equation) that describe the circuit is not observable e Consider the circuit shown in figure 6.3(a), the circuit has two state variables: the current x, through the inductor and the voltage x2 across the capacitor The input u is a current source. Ifu = 0, the circuit reduce to the one shown in figure 6.3) If x,(0) = a # 0 and x, = 0, the output is identically zero. Any x(0) =[a 0]' and u(t) = 0 yield the same output y(t) = 0. Figure 6.3: Electrical Circuit Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models Thus, there is no way to determine the initial state {a 0]' uniquely and the equations describe the circuit is not observable. 1. find the observability matrix (Q,) of the size (np X n) according to the following equation iG Q=| 4 Jeter atch (aTy1C7] cant find the rank of the observability matrix (Q,) The necessary and sufficient condition for the system to be Completely Observable is that the rank of the observability matrix (Q,) is (n). Kalman’s test for observability can be applied to any form of matrix A whether A is canonical form or otherwise. The observability matrix (Q,) is square matrix if the system has single output only, while it will be rectangular matrix of the size (np x n) if the system has multiple outputs. Ifthe system is not Completely Observable, then this test does not give information about the state variables that are not practically measurable and are shielded from the observation. If Q, the rectangular matrix (non-square matrix) of the size np x n, can be obtain the square matrix by (M = Q,Q3 ) or (M = Q3Q, ) and there two possible cases: Case I: square matrix (M) with (n) dimension Case II: square matrix (M) with (np) dimension And always choose the case with minimum dimension, Usually for observability test use (M = 0500). Check if the determinant of matrix (M) is nonzero then the matrix Q, has a rank (12) It is assumed that in the given state space model (4, B, C, D), the matrix A is not in the diagonal canonical form, if the matrix A is in the diagonal canonical form, then the transformation matrix is the identity matrix ( 71), and the test can be applied directly without any transformation (goto step 5 directly with A, = A, B, = B, C; = C,D, = D) Find the eigenvalues of matrix A. I. Ifthe eigenvalues are distinet, then proceed in the next steps. Il. If'some of the eigenvalues (at least two) are repeated, then stop since the given state space model cannot be transformed into the diagonal canonical form (DCF). Find the transformation matrix T which can be found using one of the two methods: - T = M. in this case, the transformation matrix T is the Modal Matrix of A or the matrix that is obtained from the eigenvectors of Matrix A. Let Ay.Az.~.aq are the (n) distinct Eigen values of the matrix A, while My.Mp.--.M, are the Eigen vectors corresponding igen values A;.Az.-"*. Ay respectively, then the Modal Matrix of A is given as: M=[M, Mz My Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models IL T = V. in this case, the transformation matrix T is the Vander Monde Matrix of A as given below leet Ay a, ds an ai AR AR» | = Vander Monde Matrix yt qy-d gad gna Find the transformed matrices (A;, B;, €;,.D,) of the diagonal canonical form as given below A; = T-1AT = Diagonal Matrix By =T7B €, = CT, D, =D The system with distinct eigenvalues is completely observable if and only if no column of C; = CT has all zero element: To apply this condition for complete observability, the matrix A, =T-1AT should be in the diagonal form. this means that the eigenvalues of matrix A should be distinet eigenvalues. If any column of C,=CT has all zero elements, then the corresponding state remains unobserved from the output. Ifthe eigenvalues of matrix A are not distinct, then diagonalization is impossible. In this canonical form, all the states are decoupled and not linked to each other. Hence for the system to be observable, each state should be observed from at least one output It is assumed that in the given state space model (A, B, C, D), the matrix A is not in the Jordan canonical form. if the matrix A is in the Jordan canonical form, then the transformation matrix is the identity matrix ( 7-1 ), and the test can be applied directly without any transformation. (go to step 5 directly with A; = A, B, = B, C, = C,D, = D). Find the eigenvalues of matrix A If all eigenvalues are distinct, then stop since this canonical form requires at least two repeated eigenvalues. Il. If'some of the eigenvalues (at least two) are repeated, then proceed in the following steps. Find the transformation matrix T which can be found using one of the two methods: T = Gq. in this case, the transformation matrix T is the Generalized Modal Matrix of A or the matrix that is obtained from the generalized eigenvectors of Matrix A. T = Gy. in this case, the transformation matrix T is the Generalized Vander Monde Matrix of A as given below: Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models A a z 1 aa@aye a alae 2! dA (-)! dA, where eigenvalue (21) be a repeated eigenvalue for (r) times, and the remaining eigenvalues are distinct, then the (2) eigenvalues are Ay. A, 4. Find the transformed matrices (A;, B;, G,,D,) of the Jordan canonical form as, A, = T-1AT = Jordan Matrix = J B,=T "1B C, =CT,D, =D The system is completely observable if and only if: I. No two Jordan blocks in J are associated with the same eigenvalues. I, The elements of the column of the p x n matrix C, = CT that correspond to the first column of each Jordan block are not all zeros. Mm. ¢ elements of each column of the p Xn matrix C, = CT that correspond to distinct eigenvalues are not all zeros. To apply this condition for complete observability, the matrix A, = TAT should be in the Jordan form. This means that some of the eigenvalues of matrix A should be repeated eigenvalues. Ifthe elements of any one column of the (p x n) matrix C, = CT according to condition Il and IIL above are all zeros, then the corresponding state remains unobserved * Problem Consider the system with state representation: Statement fe] a IE) iW Xe, [ 2-12 1 x 1 oly!) ‘+ Requirements Evaluate the Observability of © Solution Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models The composite matrix (Q,) = [C CA]" ca=t a4, A] a © Problem Consider the system with state representation’ Statement Hy) 70 1 OFFA) [0 [=|-[e 0 1] x21 +10] 3] lo -2 -3llel lo ay y=B 4 af} aoe ‘* Requirements Evaluate the Observability of this system © Solution The composite matrix (Q,) = [€ CA CA?] 0 1 0 CA=[3 4 ale 0 1 |=0 al 0 -2 -3 jean 0 cA =[CAJA=[0 1 afe 0 | fo -2 -2] 0 -2 -3 3°04 Q=lo 1 0 Now eel =[ 3 #0; the rank of Q, = 2 # n; 0 The system is not completely observable Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models Le Example 6.15 a * Problem Consider the satellite system given in example (6.6), where the state space Statement __ representation given by: ‘* Requirements Evaluate the Observability of this system © Solution The composite matrix (Q,) =[€ CA CA? CA2]" ca=[) onoee 1 0 0 1 ojo 0 l 00 02 O41 5 0. 0 ap -1 100 (On Ot coore CR OL conHoco ror onocobua =—1 #0; the rank of Q, ORM = Q5Q. =|) 0 0 -20 126 0} 0 0 1 0 0 0 0 6 46 0 0 0 [3 6 ah) 46 0 oO 0 IMi=|6 _S, 732 0} =98256+0 0. 0 0 -20 126 0 Q os Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models the rank of Q, = 4= n; The system is completely observable Consider the inverted pendulum system giver Statement _ space representation given by: ‘© Requirements Evaluate the Observability of this system © Solution The composite matrix (Q,) = [€ CA CA? Cay" O1 cA=[1 0 0 0] = 0 oO] CA? = [CAJA Jeo 6 0 -u = 1 #0; the rank of Q, = The system is completely observable Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models Le Example 6.17 a * Problem Consider a system, where the state space representation given by: Statement Hi] 0 1 07%) [0 =f 0 ue] 31 lo allel li Pe y=B 4 af EN ‘¢ Requirements Evaluate the Observability of this system using Gilbert's test: © Solution For Gilbert's test, find the eigenvalues: a -1 0 la—al=|o a -1/=0 lo 2 asi 23 +32? +20 = 0 > AG? +3442) =0 > At DA+2) . Ap =-1. Ag =-2 The eigenvalues are distinct, the modal matrix P is: ene aon 7: T= |A1 Az ds [ 1 “4 azz al lo 1 4 Transform the model to canonical form, we get 11 1 G=CT=[3 4 afe - =| =18 o -1) Oo 1 4 As there is one zero element in matrix C,, then the system is not completely observable * Problem Consider a system, where the state space representation given by: Statement Hy) pO 2 07m) pt ta) =] 4 O 1 | |%2] + Jo] uct) 31 l-48 -34 -9 xs} Lt 1 yor. 0 0] [=| Xs. ‘© Requirements Evaluate the Observability of this system using Gilbert’s test © Solution 1) Find the Eigenvalues of matrix A lar-al =0 Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models 2 0 A -2 oO 0 af=|-4 a -1 -4g -34 -91 las 34 1+9 -2 0 a 48 34 Ato +92? + 261+ 24=0 (A+ 2(A+3)\A+4) =0>2, = 2) Find the Eigenvector For Ay = —2.> [A — A] = Cu 20 1 ws = [2] = [Fao] =|] C3) l-4ol 2) For dz = -3.> [Ayl — A. «fe H-EP For a3 = —4.> [As — A “EFA 3) Determine the transformation matrix T 4) Determine the transformed matrix C, al al =cT=[1 0 al-a -3 2-1 2 1) ont As there is no zero element in matrix C,, then the system is completely observable Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models Le Example 6.19 a * Problem Consider a system, where the aa space represenaton given by: Statement fi 1 my) [0 -11 A Re +Jo}ucc) -11_ 5 1 yO = Pa: i ‘¢ Requirements Evaluate the Observability of this system using Gilbert's test: © Solution 1) Find the Eigenvalues of matrix A lar 20 0) 70 4 -1) fA -1 1 a-a=[o a ol-[*s -1 «|-[6 Atl | oo al be -11 5} lb a a-s -1 1 lar Al A+11l -6 11 a-Si B+ 622 + 11046 A+D)A+DA+ 2) Find the Figenvector -1 For Ay = -1.> [4,!—4 10 1 6) fy = [ 0 6! ll > [Al - Al eA 3 For Ay = -3.> [As! — A] -|s m[ée~ i: ‘|= | Cis 2. Determine the transformation matrix T Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models 3. Determine the transformed matrix ete C,=CcT=([1 0 ale 7 =u psi 149 As there is no zero element in matrix C;, then the system is completely observable Le Example 6.20 | unseen * Problem ‘Consider a system, where the state space representation given by: Statement ey 0 2 OFM) [I a2) =] 4 0 1 | {x2} + Jo] uct) x31 l-48 -34 -ollas} lo xy y(t) = [24 17 3] [=| x. ‘© Requirements Evaluate the Observability of this system using Gilbert’s test © Solution 5) Find the Eigenvalues of matrix A lar-Al = a 2 0 al-A o 1 48 -34 -9. -2 0 =|-4 a0 -1 48 34 +9) 48 34 A+9I 2B +97? + 264+ 24=0 (A+ 2)(A+3)(A+4) =034, = 6) Find the Eigenvector 2-2 0 For Ay =-2. [al - A] =|-4 -2 -1 48 34 7 “AFELE Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models “(el i 2|- ; 7) Determine the transformation matrix T T= 8) Determine the transformed matrix Cy 19201 ¢,=CT=(24 17 3]|-1 -3 -2 —2 1 4 As there is no zero element in matrix C,, then the system is not completely observable + Problem Consider a system, where the sate space representation given by Statement ry e = +lolu 4s 1 y=B 4 on x3, ‘© Requirements Evaluate the Observability of this system using Gilbert’s test * Solution For Gilbert’s test, find the eigenvalues: JA -1 0 la—al=|o a -1/=0 4 8 ats Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models The eigenvalues are distinct, the modal matrix P is: 11 0 1 1 0 Ay Ap -[4 -2 1] AR AR 2ap 1 4 -4 Transform the model to canonical form, we get 11 1 =(CT=23 4 afe S 2|="0 -1 0) o1 4 As there is one zero element in matrix C,, then the system is not completely observable Note: the last zero is excluded because it meets the repeated eigenvalues Le! Example 6.21 eee «Problem Consider a system, where the state space representation given by Statement hy FO 1 OTP) fo :]-[2 «feo is) Loa 0 -s -sibel 4 y=B 4 1) | 3, ‘© Requirements Evaluate the Observability of this system using Gilbert’s test © Solution For Gilbert’s test, find the eigenvalues: JA -1 0 lar-al=|0 A -1 0 4 8 At+S 2B + 322 + 22 =0 > AQ? + 3042) =0 AA DA42) = Ayer. A, = -2. Ay=-2 The eigenvalues are distinct, the modal matrix P is: ee eae T=|4, a, 1 =| -2 1] Az AR 2p. 1 4 -4 Transform the model to canonical form, we get 1 C =CT=[3 4 af 0] 1 a As there is one zero element in matrix C,, then the system is not completely observable Note: the last zero meets the repeated eigenvalues, not exclude in test Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models Le Example 6.22 a * Problem Consider a system, where the state space representation given by: Statement o 1 0 «0 gu[9 9 1 0 0 0 0 —6 -17 -17 -71) xy x y=. 0 0 olf Xa, ‘* Requirements Evaluate the Observability of this system using Gilbert’s test: © Solution For Gilbert's test, find the eigenvalues e070 _agj-}]O a -1 0 -Al=|9 9 Qo = 6 -17 -17 A+7! +7 +172 +171+6=0 aati ee The eigenvalues are distinct, the modal matrix P is: ecoude eer 1 Ar 1 As Ag 1 3 =laz 2a, a2 az)=]1 -2 4 3 343 a3 aj] 1-1 3° -8 -27. Transform the model to canonical form, we get 1 0 11 1-2 -1 3 -8 -27 C=CT=[1 0 0 0] As there is one zero element in matrix C,, then the system is completely observable Note: the zero meets the repeated eigenvalues, not exclude in test Le Example 6.23 | unseen * Problem Consider a system, where the state space representation given by Statement [: 0 0 1 | x 0 Ojx+|1 2lu 0 oO. -3. 2 1 112 bis ‘* Requirements Evaluate the Observability of this system using Gilbert’s test: © Solution Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models ‘The composite matrix (Q,)=[C_ CA CA?) = 0 the rank of Q, = 3 = n: a 13-1 -3 1 373 4 0 «24221 ORM=Q5Q,=|1 1-2 -2 4 4 28 42 301 2 5 -6 -15 18 4sll7" | >| [221 301 2639) 3 30.24 221 IM|=|28 42 301/= 211990 #0 221 301 2639) the rank of Q, = 3 = n;The system is complete Observable. * Problem Consider a system, where the state space representation given by: Statement 00 0 40 k=/]1 0 -3/x+]10]u Oo 1 -4 0 y=l0 0 1)x ‘« Requirements Evaluate the Observability of this system using Gilbert’s test © Solution The composite matrix (Q,)=[C CA CA*] 00-0 cA=[0 0 aft 0 01 ca =[cA]A=[0 1 00 1 e=[ 1 | 1-4 13 Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models jo 0 1 Now |@|=|0 1 —4]=~1 ; the rank of Q, n; The system is Complete 1-4 13 Observable “A system represented by a transfer function (for SISO ease) or a transfer matrix (for MIMO case) is Completely observable if and only if the denominator and numerator polynomial of the transfer function do not have a common factor, except the constant. there should be no pole-zero cancellation in the transfer function of the system for complete observability. If pole-zero cancellation exists, then the canceled mode cannot be observed in the output ! Example 6.25 el * Problem Consider a system, where the state space representation given by Statement oy 0 1 07P%) [0 f=] 0 0 1))%2]+]olu ts) l-6 -11 -6 11 3. 1 ey y=l4 5 i)% x3. ‘* Requirements Evaluate the Observability of this system, and check it through the s-plane * Solution The composite matrix (Q,) =[C CA CA?]" 0-1 0 cA=[4 5 ale 0 | -6 -11 -6 0 1 oO ca =[cA]A=[-6 -7 1]]0 0 1 ]-t6 5 1 -6 -11 -6! a 2 #0; the rank of Q, =2# 7 6 In this system, cancellation occurs in the transfer function of the system. The transfer function’ between the output ¥(s) and the input U(s) is ¥(s) (s+ D(s+4) U(s) "(s+ 1)(s + 2)(s +3) Clearly, the two factors (s + 1) cancel each other. This means that there are nonzero initial states x(0), which cannot be determined from the measurement of y(¢) Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models Le Example 6.26 a * Problem Consider a system, where the state space representation given by: Statement x-f-2 1 1 e[P A)e+lale y=(1 -1)x Requirements Evaluate the Observability of this system, and check it through the s-plane © Solution ‘The composite matrix (Q,) = [C CA]” ; —2 1 ca=t -1)[ 1 J] =[-3 3] 0 5 the rank of Qo The system is not complete observable In this system, cancellation occurs in the transfer function of the system, The transfer function between the output ¥(s) and the input U(s) is Ys) | +1) Us) (s+ D+3) Clearly, the two factors (s + 1) cancel each other. This means that there are nonzero initial states x(0), which cannot be determined from the measurement of y(¢) For a partially controllable system, if the uncontrollable modes are stable, and the unstable modes are controllable, the system is said to be stabilizable. Such a system can be made stable by the use of suitable state feedback For a partially observable system, if the unobservable modes are stable and the observable modes are unstable, the system is said to be detectable. + The concept of detectability is dual to the concept of stabilizability Consider the LTI original system So represented by the state space model (A, B, C, D) and described by: X(t) = AX(t) + BUCO) (6.8) ¥(O) = CX(t) Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models And the dual system Sp of the original system Sp defined by Z(t) = A'Z(t) + CR(t) N(t) = BTZ(t) The dual system Sp may be re-written as ZO) = ApZ(O) + BpR(O) N(t) = CpZ(t) where the dual matrices are given as: Ap = AT Bp =Cc" ees i And the vectors for the original and dual systems are given as: x(t): state vector (n x 1) for the original system So u(t): input vector (m x 1) for the original system So y(t): ouput vector (p x 1)for the original system S_ z(t): state vector (nx 1)for the dual system Sp r(t): input vector (m x 1)for the dual system Sp n(t): ouput vector (p x 1)for the dual system Sp The principle of duality states that the original system So is completely state controllable/observable if and only if the dual system Sp is completely observable/state controllable Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models ee! Example 6.27 EEE Problem Consider a system, where the state space representation given by. Statement ()] p-8 15 -05][uO] pL Es] [> 7 | x2(t)| +1] u(o) g(t) 0 1) |x,(0) lt c(t) yO) =[-3 -15 -0.5] }x2(t)} + u(t) x(t), Requirements Check the observability and controllability for this system. © Solution A. Kalman’s Test for Controllability IB AB AB) 5 -15 -0.5)[1] [-7 AB=|0 -3 -0.5}|1 5 o o -1th -1 -5 -15 -05][-7] [40.75] wa =acas)=[a 3 -o3||-25]-[ ret | 0 0 -1 1 Qe [: 3.5 11 1 - “| 1-1 21 The rank of matrix Q. 1-7 40.75 l@cl=]1 -35 11 39.3750 which is nonzero; the rank of Qe 1-1 1 ‘The system is controllable B. Gilbert's Test for Controllability 1. Eigenvalues AP +97? + 2344 15 = (A+ DA+3)A+5)=0 Ay = LAy = -3,dy = -8 2. Find the Eigenvector The eigenvalues are distinct: ‘The Matrix (A) in Canonical Form we use the Vander Monde Matrix. The Matrix (A) non in Canonical From we use the Modal Matrix. Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models 0 2 035] 0 0 0 =0.25 Ce = C155 02] =-2 eye aes =Co|y bl=8 Car] 0.2! w=[ee|| -2 Cas, 8 | =|o 0 05) 2 15 “4 0 -2i C. 1.75 C33, 0 The transformation matrix T 0.25 0.75 1.75 T=| -2 0 0 -1 0.25 0.5714 0.4286 0.125 r 8 0 | 0 0 0.125 ‘The Transformed matrix 0 0 0.125] [1 0. saraa[o <1 “ozs|li]=["125| 0.5714 0.4286 0.125. 1.125 As none of elements of B, = T~"B are zero, the system is completely state controllable. C. Output Controllability Test Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models Qco=[CB CAB CA*B D] 1 cB=[-3 -15 -05]]1 1 ] 5 —5 -15 CAB=[-3 -15 -05]|0 -3 0 0 —8 CAB =[-3 -15 -osi[o 0 Qco =[-5 26.75 — 139.25 1] The rank of matrix Qco and equal the number of output then the system is output controllable . Kalman’s Test for Observability Q =e" ATCT (ATCT) avct=|0 -3 -0.5] |-15]=] 9 -15 -05)" ig 15 o -1 0.5. 2.75) -5 -15 -0.5)" 75 carrer =araren =[o aes 25) | 8 |= [- —49.5 0 12.75. 14.75. -3 15-75 Qo = [=r 9 “195 -05 2.75 -14.75. The rank of matrix Q, -3 15-75 IQ|=|-1.5 9 -49.5] = 1.125 which is nonzero; the rank of Q, = 0.5 2.75 -14.75 The system is Observable E. Gilbert’s Test for Observability 1. Eigenvalues HB +922 + 234415 = (AF (A+ 3)A45) = A, = -1,d, = 3,23 = -5 2. Find the Eigenvector The eigenvalues are distinct: The Matrix (A) in Canonical Form we use the Vander Monde Matrix. The Matrix (A) non in Canonical From we use the Modal Matrix. 415 05 Fora, =-1.> [4,!-4]=|0 2 03| 0 0 0 Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models Cy = (-1)* C2 =(-8 C33 = (-1)* Car 025 me eh i Coa ae 0: 2 of) 0 os! Re 15 15 0: 2 0: 0° 0.5) _ 0 sl Ba ie Ca, = (-1)* Caz = (-95 x3 = (-1)® m= |e] [‘ an C33, 3. The transformation matrix T 175 8 0 0 0 0.125 Tas 0 -1 -0.25 0.5714 0.4286 0.125 4. The Transformed matrix -0.25 0.75 1.75) G=cr=[-3 -15 -05]| -2 -1 0 |=[-025 -075 -5.25] 8 0 0 As none of elements of C; = CT are zero, the system is completely state observable. Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models Le Example 6.28 a * Problem Consider a system, where the state space representation given by’ Statement CO] p-7 -1 -2y [CO] 72 2(t) -| -! = x2(t)| + ]2] u(t) ¢4(t) 0 0 =3i]}x,(e)} Lz ey (t) y(t) =[-1 -1 -1]]x2(t)] + 2u(e) x3(t). ‘© Requirements Check the observability and controllability for this system, © Solution A. Kalman’s Test for Controllability 1. Find the controllability matrix Q. Q-=([B AB AB] 2 =20 166) Qe =|2 -14 82 2 -6 18 2. Find the rank of matrix Qc 2-20 166} IQcl=|2 -14 82 | = 576 which is nonzero; the rank of Q; = 3 =n 2 -6 18 The system is controllable B. Gilbert's Test for Controllability 1, Eigenvalues AB +152? + 714+ 105 = (A+ 3)(A+ 5)A+7)=0 Ay = ~3,a) =—5,Ag = -7 2. Find the Figenvector The eigenvalues are distinct * The Matrix (A) in Canonical Form we use the Vander Monde Matrix. The Matrix (A) non in Canonical From we use the Modal Matrix. 412 For ay = —3.> [Ay — A] = f 2 | 00 0 Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models For Az = -5.= [Al — A] | 1 Ca = (|G a2 ala io 3. The transformation matrix T 4. The Transformed matrix 0 0 0.125] [1 0.5] B,=T“B=| 0 -1 -0,25}|1} = |-2 0.5714 0.4286 0.125) 11 4.5, As none of elements of B; = T~"B are zero, the system is completely state controllable. C. Output Controllability Test Qco=(CB CAB CA*B D) Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models —7 -1 —2)[2) CAB=[-1 -1 =ale = -2|f| 46 oo -allz el a2le caB=[-1 -1 al -5 -2 0 0 -3 Qco=[-8 46 -284 2] The rank of matrix Qco and equal the number of output then the system is output controllable D. Kalman’s Test for Observability Q =le™ arc™ (ar)PcT] 7-49) 6 -37) 10-56 The rank of matrix Qo 167 6 which is nonzero; the rank of Q, =3 =n 2 10 The system is Observable E. Gilbert’s Test for Observability 1. Eigenvalues AB +151? + 710+ 105 = (A+ 3)A45)A+7) =0 A, = -3,d, = —5,A3 2. Find the Eigenvector The eigenvalues are distinct: ‘The Matrix (A) in Canonical Form we use the Vander Monde Matrix. ‘The Matrix (A) non in Canonical From we use the Modal Matrix. 41 2 ford =a Buta =[0 2 | 1 0 0 0 Cy, = (-1)*], - le - F For Ay = —5.> [Ag — A] | Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models For Ay = —7.> [Ag — A] 3. The transformation matrix T 4. The Transformed matrix -1 11 C=¢CT=[-1 -1 -2]]-4 -2 o]= 4 0 0 As none of elements of C; = CT are zero, the system is completely state observable. Le Example 6.29 Eas) * Problem Consider a system, where the state space representation given by’ Statement XC] po 1 0 0 oye] yo ¥2(t) 0 0 t 0 O}}xe(t)) Jo xx(O]=|0 0 0 1 0 ffxsce)}+}o}uce) z(O] [O 0 0 0 1]]/xcH] Jo to(01 ‘+8 -30 -43 -29 -lx.c) be Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models x(t) x2(t) y()=[1 0 0 0 0))xa(t) xi) x5(t). ‘* Requirements Check the observability and controllability for this system. © Solution A. Kalman’s Test for Controllability 1. Find the controllability matrix Q. AB APB A*BY o 0 1 o 1 -9 1 -9 82 -9 52 250 52 -250 1099 2. Find the rank of matrix Q. 0 0 0 0 1 oo 0 1 ~9 IQcl=]0 0 1 -9 52 |=1 whichis nonzero; the rank of Qc =5=n lo 1 -9 -250 1 — 52 ~250 1099 The system is controllable B. Gilbert’s Test for Controllability 1. Eigenvalues AS +944 + 2923 + 432? + 30048 = (A419 +2) +4) =0 Ay = —LAy = —1,dg = Lay = 2,44 = —4 Find the Eigenvector ‘The eigenvalues are distinct ‘The Matrix (A) in Canonical Form we use the Generalized Vander Monde Matrix. ‘The Matrix (A) non in Canonical From we use the Generalized Modal Matrix. The transformation matrix T 10 o 11 Ay 10 Ag As T=V=|Aj 2A, 1 Aa AR 3A; 6A/2 a AB -3 -8 -64 i 4a3 1243/2 at -4 6 16 256 2.963 6.3704 3.4074 0.4815 -0.8889 -5.1111 -7 3.222 -0.4444 T=] 2.6667 7.333 2.6667 0.3333 -2 65 -75 9-35-05 0.0370 0.1296 —0.1667 0.0926 0.0185 Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models 4. The Transformed matrix 0.8889 -5.1111 -7 -3.222 -0.4444 B,=T"B =| 2.6667 7.333 7 2.6667 -2 -65 -15 0-35 0.0370 0.1296 —0.1667 0.0926 2.963 6.3704 7.333 A074 a None of the elements of B; is zero; therefore, the system is fully state controllable. Output Controllability Test Qco=([CB CAB CA?B CAB CA‘B ODI Qco=[0 0 0 0 1 0] The rank of matrix Qco and equal the number of output then the system is output controllable D. Kalman’s Test for Observabi Qo = [C7 ATCT (A")°C7] 0 oO 1 Q%=|0 0 0 0 The rank of matrix Qo 100 00 lo 1 000) IQ@cl=|0 0 1 0 0] = 1 which is nonzero; the rank of Q, = lo 0 010 0 1 Oa) The system is Observable E. Gilbert's Test for Observability Find the transformed model to Jordan Canonical From 1. Eigenvalues AS +904 + 2929 + 4327 + 30+ 8 = (A413 AF2A+4) = Ay = ~1,A2 = ~1,A3 = ~1,A3 = -2,44 = -4 Find the Eigenvector The eigenvalues are distinct ‘The Matrix (A) in Canonical Form we use the Generalized Vander Monde Matrix. The Matrix (A) non in Canonical From we use the Generalized Modal Matrix. ‘The transformation matrix T Prof. Zaer Abo-Hammour Modern Control SystemsChapter 6: Controllability and Observability of State Space Models 10 o 1 Al 0 Ag AG 2a, 1 AR az 342 6A,/2 ah at 44} 1205/2 ah 2.963 6.3704 0.8889 5.1111 T-' =| 2.6667 7.333 -2 5 . 0.0370 0.1296 | -0.1667 4. The Transformed matrix 1 A, = TAT = 0 0 0 1 0 -1 0 -4 G=cT=[1 00 00]/1 1 4 w6l=1o01y -1 —-3 -8 -64 1-4 6 16 256 We notice that The column of C; that corresponds to the first row of each Jordan matrix is not zero. The column of C, that corresponds to the distinct Eigenvalues is not zero. Therefore, the system is completely state observable. Prof. Zaer Abo-Hammour Modern Control Systems