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Controllability and Observability

The document discusses the concepts of controllability and observability in control systems. A system is controllable if its states can be changed to desired states using controlled inputs, verified through Kalman's test by checking the determinant of matrix Qc. Similarly, a system is observable if initial states can be determined from outputs, also verified using Kalman's test with matrix Qo, and the example provided demonstrates a system that is both controllable and observable.

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25 views

Controllability and Observability

The document discusses the concepts of controllability and observability in control systems. A system is controllable if its states can be changed to desired states using controlled inputs, verified through Kalman's test by checking the determinant of matrix Qc. Similarly, a system is observable if initial states can be determined from outputs, also verified using Kalman's test with matrix Qo, and the example provided demonstrates a system that is both controllable and observable.

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integrityadex
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
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Controllability and

Observability
Let us now discuss controllability and observability of control system one by one.

Controllability
A control system is said to be controllable if the initial states of the control system
are transferred (changed) to some other desired states by a controlled input in finite
duration of time.

We can check the controllability of a control system by using Kalman’s test.

 Write the matrix Qc in the following form.

 Find the determinant of matrix QcQc and if it is not equal to zero, then the
control system is 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.

We can check the observability of a control system by using Kalman’s test.

 Write the matrix Qo in following form.

 Find the determinant of matrix QoQo and if it is not equal to zero, then the
control system is observable.
Example:

Let us verify the controllability and observability of a control system which is


represented in the state space model as,

Since the determinant of matrix Qc is not equal to zero, the given control
system is controllable.
For n=2, the matrix Qo will be –
Since, the determinant of matrix Qo is not equal to zero, the given control
system is observable. Therefore, the given control system is both controllable and
observable.

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