Department of Mechatronics Engineering

Rajshahi University of Engineering & Technology

Course No.: MTE 3102

Course Title: Control System Sessional

Experiment No.: 01
Experiment Name: Investigation of the controllability and observability of a
system.

Remarks

Name: Md. Naimur Asif

Date of Performance:19-02-2022 Roll No.: 1808009
Date of Submission: 25-02-2022
Group No.:
Session:
Experiment No:01
Experiment Name: Investigation of the controllability and observability of a
system.
Objectives:
1.To test whether a system is controllable or not.
2.To test whether a system is observable or not.
Theory:
By the term controllability means that the ability of a particular system configuration
to control the state of the system and conversely observability measures the ability
of the particular system configuration to supply all the information necessary to
estimate all the states of the system.by the law of control theory the controllability
and the observability are based on the rank deficiency of the controllability and
observability matrix.so from this theory it can be stated that the system is
controllable if the controllability matrix is full rank and the system is observable if
the observability matrix is of full rank.
Considering the linear time-invariant system,
X=A x + B u……….(1)

y= C x………………(2)

the system is completely if the state of the system can be transferred from zero to
any final state ‘x’ within a finite time. The system is stabilizable if all the unstable
eigenvalues are controllable or in other words of the noncontrollable subspace is
stable. The system is completely observable if the state x can be determined from
the knowledge of u and y over a finite time segment. In the specialized literature
observability refers to the determination of the current state from the future output
while the determination of the state from past put is called constructability.
System representation:
As my roll number is 1808009.so the system representation will be:
−2 −1 −3 2
𝑥̇ = [ 0 9 1 ] 𝑥 + [1] u
−7 −8 −9 2
y = [2 4 9]x
MATLAB coding:
Controllability test:

Fig: Controllability test using MATLAB

Observability test:

Fig: Observability test using MATLAB

Output:
Output of the controllability test:

Fig: Output of the controllability test

Output of the Observability test:

Fig: Output the observability test

Discussion and conclusion:
As we know from the theory of the control theory that if the rank of the matrix A and B is same
the matrix is controllable.so from the given system we can see that the rank of the A matrix is 3
and the rank of the matrix B is 3. So as the rank of both matrix is same the system is controllable
just as we get the output of the test. We can also see that the rank of the matrix A and C is same
so the system is observable as we get the output of the test.