EE 650A - Assignment 5 (2020-21-I)

Q1.
Consider a system described by following state equations :

ẋ = Ax + Bu y = Cx
   
1 1 1 0
where the system matrices are A = 0 −1 0 , B = 1, C = [1 1 0].
  
0 0 1 1
Find the controllability gramian and the controllability matrix. Check whether given system is controllable.

Q2.
Show that for a linear time-varying system, reachability gramian is invertible if and only if controllability
gramian is invertible. This will establish reachability ⇐⇒ controllability.

Q3.
Consider a system described by following state equations :

ẋ = Ax + Bu y = Cx
   
1 1 0 0
where the system matrices are A = 0 1 0, B = 1, C = [1 1 0].
0 0 1 1
Find the controllability gramian and the controllability matrix. Check whether given system is controllable.
What is the controllable subspace?

Q4.
Consider a system described by following state equations :

ẋ = Ax + Bu y = Cx
   
1 1 1 0
where the system matrices are A = 0 −1 0 , B = 1, C = [1 1 0].
  
0 0 1 0
Find the controllable modes (eigenvalues).