Chapter 11

The Design of State

Variable Feedback Systems
Controllability and Observability

Meet the performance

specifications

Place the poles precisely

at the desired locations

Completely controllable
and observable
Controllability

A control system is said to be controllable if the initial state of

the control system are changed to some other desired states by a
controlled input in finite duration of time.
Kalman’s Test Write the Matrix

Find the
determinant

Not Controllable
Controllable
Observability

A control system is said to be observable if it is able to determine

the initial states of the control system by observing the outputs in finite
duration of time.
Kalman’s Test Write the Matrix

Find the
determinant

Not Controllable
Controllable
Full-State Variable Feedback Control System

To achieve the desired pole locations of the closed-loop system.

Full-state feedback component & observer design component.

FULL-STATE FEEDBACK

The objective is to determine the gain matrix K.

• The system must be Controllable.

• If A & B are known, K can be determined to place all the closed-loop

poles in the left-hand plane
OBSERVER DESIGN
has all it’s roots in the left half-plane.

*The System must be completely observable.