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Chapter 6: Controllability & Observability

The document discusses controllability and observability in state-space systems. It defines controllability as the ability to control a system state through input, and observability as the ability to observe the initial state through output. It provides examples and theorems to test for controllability and observability. The key tests are whether certain matrices are nonsingular, and it discusses duality between controllability and observability.

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Muhammad Salman
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39 views

Chapter 6: Controllability & Observability

The document discusses controllability and observability in state-space systems. It defines controllability as the ability to control a system state through input, and observability as the ability to observe the initial state through output. It provides examples and theorems to test for controllability and observability. The key tests are whether certain matrices are nonsingular, and it discusses duality between controllability and observability.

Uploaded by

Muhammad Salman
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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Chapter 6: Controllability &

Observability

Rabia Nazir
[email protected]
Associate Professor,
Electrical Engineering Department, UET Lahore.
Controllability & Observability
•  Controllability deals with whether or not the state of a state-space
equation can be controlled from the input.
• Observability deals with whether or not the initial state can be
observed from the output.
• Consider a state equation
• This state equation or the pair (A, B) is said to be controllable if for
any initial state x(0) = x0 and any final state x1, there exists an input
that transfer x0 to x1 in a finite time. Otherwise the state equation or (A,
B) is said to be uncontrollable.
Controllability
Examples:
Question: Are the following system Controllable? (in the left system, the state
variable is x; in the right system, the state variables are x1 and x2?
Controllability
• Theorems: The pair (A, B) is controllable if and only if the matrix

is nonsingular for any t > 0.


Remark: If the pair (A, B) is controllable, then for any x(0) = x0 and any
x(t1) = x1, the input
will transfer x0 to x1 at time t1.
Observability
•   concept of observability is dual to that of controllability. Roughly speaking,
The
controllability studies the possibility of steering the state from the input; observability
studies the possibility of estimating the state from the output. Consider the n-dimensional
p-input q-output state equation

where A, B, C, and D are, respectively, n × n, n × p, q × n, and q × p constant matrices.


The state equation (given above) is said to be observable if for any unknown initial state
x(0), there exists a finite t1 > 0 such that the knowledge of the input u and the output y
over [0, t1] suffices to determine uniquely the initial state x(0). Otherwise, the equation is
said to be unobservable.
Observability Examples
Examples:
Question: Are the following system Observable? (in the left system, the state
variable is x; in the right system, the state variables are x1 and x2?
Response of the system  Observability
•The
  response of standard state space equation excited by the initial state
x(0) and the input u(t) has been derived as follow:
State space equation is
observable if and only if
the initial state x(0) can be
determined uniquely from
its zero-input response over
a finite time interval.

Thus the observability problem reduces to solving x(0) from above


equation. If u ≡ 0, then (t) reduces to the zero-input response CeAtx(0).
Observability Theorems
• The standard state space equation is observable if and only if the n × n matrix

is nonsingular for any t > 0. Premultiply by eA'tC’ and then integrate it


over [0, t1] to yield
Observability depends only on A and
C. Thus observability is a property of
the pair (A,C) and is independent of B
and D.

This yields a unique x(0). This shows that if Wo(t), for any t > 0, is nonsingular, then
Standard state space equation is observable. If Wo(t1) is singular or, equivalently,
positive semidefinite for all t1, then Standard state space equation is not observable.
Duality Theorem
• The pair (A,B) is controllable if and only if the pair (A’,B’) is observable.
• The pair (A, B) is controllable iff is non-singular for any t
• The standard state space equation is observable if and only if the n × n matrix
is non-singular.

• replacing A by A’ and C by B’

• If the above equation is non singular then matrices A’ B’ are observable.


Duality Remarks
Observability Indices
• Let A and C be n×n and q×n constant matrices. Let’s assume that C has rank q (full row rank). If
C does not have full row rank, then the output at some output terminal can be expressed as a linear
combination of other outputs.
• If (A,C) is observable, its observability matrix O has rank n and, consequently, n linearly
independent rows. Let ci be the ith row of C. Let us search linearly independent rows of O in order
from top to bottom.
• Dual to the controllability part, if a row associated with cm becomes linearly dependent on its
upper rows, then all rows associated with cm thereafter will also be dependent. Let νm be the
number of the linearly independent rows associated with cm. It is clear that if O has rank n, then

• The set {ν1, ν2, . . . , νq } is called the observability indices and


is called the observability index of (A,C). If (A,C) is observable, it is the least integer such that
Corollary 6.O1
• The n-dimensional pair (A,C) is observable if and only if the matrix

• where ρ(C) = q, has rank n or the n × n matrix O’n−q+1On−q+1 is nonsingular.


• The observability property is invariant under any equivalence
transformation. The set of the observability indices of (A,C) is invariant
under any equivalence transformation and any reordering of the rows of C.

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