Republic of Iraq

Ministry of Higher Education

Assignment Name
Investigation of controllability and observability
for the RLC circuit

MODERN CONTROL :‫اسم امالدة‬

‫ دكتور امجد جليل‬:‫اسم التدريس ي‬

‫ وسن شاكر محمود‬:‫اسم الطالب‬

‫ ميكاترونكس‬:‫الفرع‬

‫ الرابعة‬:‫املرحلة‬

(‫ ) صباحية‬:‫نوع الدراسة‬

1
1. Problem Statement
For the following circuit diagram, let 1
= , = ̇ = ̇, = , =

2 1
= ,

derive the sate space representation:

1
]+ , ]+
[ ]= [ = [

2
̇ 2

and investigate the controllability and observability of the RLC circuit.

Figure (1)

2. Analysis:
BY KVL:
− ()− ()− ()=0
=0= 1
− ()− ()− ()=0
When , ( )
( )
()= =

Then ()= ()− ()

()
()
− − − =0

2
() ()

− ()−
− =0

2
() ()

=− − ()+

2
() () 1 1

=− −
()+

2
 0 1 () 0

()

−1
=[ − ] [ ( )] + [1] [ ]

2
()

[ ]
2

0 1 0
̇

[ −1 1
1 ]= [ − ][ 1
]+ [ ] ()

2 2

= [1 0] [ 1] + [0] ( ) 2

0 1 0

=[ 1 ] , = [ 1 ] , = [1 0 ], = [0]

− −

1
0
=[ ] =[ ]
1
−

− 1 1 1
= |0 ∗ − ∗ |=
2 2

−1
1 0
= [ ] ,= [
]
−

−1
0
=[ 1 0
].[ ]=[ ]

− 0 1

=[
1
]=[ 0]

0 1

3
3. Conclusion:
1- when the determinant of P is not equal to zero then the system is
completely controllable.
2-when the rank of Q is 2 and is equal to the n then the system is
completely observable

4. References:
1. Richard C. Dorf, Robert H. Bishop" Modern Control System," Prentice Hall, 2011.
2. William L. Brogan," Modern Control Theory" Prentice-Hall International, Inc., 1991.
3. Katsuhiko Ogata, "Modern control engineering", Prentice-Hall, 2010.