Tarea 5.

Control Moderno
1. 6.1
Is the state equation controllabe? Observable?
   
0 1 0 1
ẋ =  0 0 1  x + 0 u (1)
−1 −3 −3 0

 
y= 1 2 1 x (2)

1.1. Solution
We have
   
0 1 0 1  
A= 0 0 1 B = 0
 C= 1 2 1 (3)
−1 −3 −3 0
Controllability
 
1 0 0
C = B AB A2 B = 0 0 −1
 
(4)
0 −1 3

The rank ρ(C) = 3, therefore it is controllable.

Observability
   
C 1 2 1
O =  CA  = −1 −2 −1 (5)
CA2 1 2 1

The rank ρ(O) = 1, therefore it is not observable.

1
2. 6.2
Is the state equation controllabe? Observable?
   
0 1 0 0 1
ẋ = 0 0 1  x + 1 0 u (6)
0 2 −1 0 0

 
y= 1 0 1 x (7)

2.1. Solution
We have
   
0 1 0 0 1  
A = 0 0 1  B = 1 0 C= 1 0 1 (8)
0 2 −1 0 0
Controllability
 
0 1 1 0 0 0
C = B AB A2 B = 1 0 0 0 2 0
 
(9)
0 0 2 0 −2 0

The rank ρ(C) = 3, therefore it is controllable.

Observability
   
C 1 0 1
O =  CA  = 0 3 −1 (10)
CA2 0 −2 4

The rank ρ(O) = 3, therefore it is observable.

2
3. 6.5
Find a state equation to describe the network shown, and then check its controllability and
observability.

Figura 1: Network

We have the system in state variables

   
−1 0 1
ẋ = x+ u (11)
0 −1 0
 
y = 0 1 x + 2u (12)

We have
   
−1 0 1  
A= B= C= 0 1 (13)
0 −1 0
Controllability
 
  1 −1
C = B AB = (14)
0 0

The rank ρ(C) = 1, therefore it is not controllable.

Observability
  
C 0 −1
O= = (15)
CA 0 1

The rank ρ(O) = 1, therefore it is not observable.

3
4. 6.6
Find the controllability index and observability index of the state equations in Problems 6.1 and
6.2.

4.1. Solution
if C has rank n

µ1 + µ2 + ... + µp = n (16)
The set (µ1 + µ2 + ... + µp ) are the controllability indices and

µ = max(µ1 , µ2 , ..., µp ) (17)

Or, if (A, B) is controllable, the controllability index µ is the least integer such that

ρ(Cp ) = ρ[B AB...Aµ−1 B] = n (18)

On the other hand, If O has rank n.

v1 + v2 + ... + vp = n (19)
The set (v1 + v2 + ... + vp ) are the observability indices and

v = max(v1 , v2 , ..., vp ) (20)

if (A, B) is observable, it is the least integer such that
 
C
 CA 
 CA2 
 
 
ρ(Ov ) = 
 . =n
 (21)
 . 
 
 . 
CAv−1

In the problem 6.1, we have µ = 3 and v = 1.

In the problem 6.2, we have µ = 2 and v = 3.

4
5. 6.7
What is the controllability index of the state equation where I is the unit matrix?

ẋ = Ax + Iu (22)
We have, µ = 1.