Scribd
Upload
11 views14 pages

Class 5.2 - Controlability Assignmnet

Uploaded by

David Cárdenas
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
11 views14 pages

Class 5.2 - Controlability Assignmnet

Uploaded by

David Cárdenas
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 14

Flight Control Systems

Sebastian Valencia, MSc


MSc Astronautics and Space Engineering
Cranfield University, England

Lecturer in Aeronautical Engineering

Class 5 - continued
Assignment Controlability

1
Lecturer: Sebastian Valencia
Lecture 5 Continued – Assignment

Controllabilty and Observability

•If a sub-system is connected to the inputs 𝐮 then it is said to be controllable.

•If there is no connection the sub-system is uncontrollable.

•If a sub-system is connected to the outputs 𝐲 then it is said to be observable.

•If there is no connection the sub-system is unobservable.

2 Lecturer: Sebastian Valencia


Lecture 5 Continued – Assignment

Controllability and observability of the sub-


systems

If sub-sets 𝐒3 and 𝐒4 are empty then the entire system is completely controllable.
3 Lecturer: Sebastian Valencia
Lecture 5 Continued – Assignment

Mathematical Test for Controllability

If we transform the state equations to normal canonical form, then the term involving the inputs
constitutes the link in the previous figure between 𝐮 and the sub-systems.
From previous work we had:
𝐱˙=𝐀𝐱+𝐁𝐮

with state transformation matrix 𝐓 giving:

𝐱 = TW
𝐰˙=𝐓-1𝐰𝐀𝐓- 𝐓-1𝐁𝐮
=𝚲𝐰+ 𝐓-1 𝐁𝐰

where 𝚲 is a diagonal matrix.

4 Lecturer: Sebastian Valencia


Lecture 5 Continued – Assignment

Mathematical Test for Controllability

where 𝚲 is a diagonal matrix.

•For controllability of all the system states, every state equation must be linked to at least one of
the inputs.

•The 𝑖th state equation is:

•Therefore for every state equation to be linked to at least one input, there must be no row of 𝐓-1 𝐁
containing all zero entries.

5 Lecturer: Sebastian Valencia


Lecture 5 Continued – Assignment

Mathematical Test for Controllability


If we transform the output equations to normal canonical form, then the term involving the states constitutes the link in
the previous figure between the sub-system states and outputs 𝐲.
From previous work we had:

𝐲=𝐂𝐱+𝐃𝐮

Transforming to normal canonical form with matrix 𝐓 gives:

𝐱=𝐓𝐰
y=𝐂𝐓𝐰+𝐃𝐮

•For observability of all the system states, every state 𝑤𝑖 must be linked to at least one of the outputs. Therefore, there
must be no column of 𝐂𝐓 containing all zero entries.

•If we transform the output equations to normal canonical form, then the term involving the states constitutes the link in
the previous figure between the sub-system states and outputs 𝐲.
The previous arguments have indicated necessary conditions for controllability and observability but even if they are true
they
6 Lecturer: Sebastian Valencia
do not give a guarantee. Sufficient conditions require more subtle tests as quoted in the next section.
Lecture 5 Continued – Assignment

Alternative Tests for Controllability and


Observability
Check last class!

7 Lecturer: Sebastian Valencia


Lecture 5 Continued – Assignment

Example

Problem: test the


following system for
controllability and
observability:

8 Lecturer: Sebastian Valencia


Lecture 5 Continued – Assignment

Assignment
1. Check controllability and observability for the system described
by

9 Lecturer: Sebastian Valencia


Lecture 5 Continued – Assignment

Assignment
2. Check controllability and observability for the system described
by

10 Lecturer: Sebastian Valencia


Lecture 5 Continued – Assignment

Assignment
3. Check controllability and observability for the system described
by

11 Lecturer: Sebastian Valencia


Lecture 5 Continued – Assignment

Assignment
4. Check controllability and observability for the system described
by

12 Lecturer: Sebastian Valencia


Lecture 5 Continued – Assignment

Assignment
5. Check controllability and observability for the system described
by

13 Lecturer: Sebastian Valencia


Lecture 5 Continued – Assignment

Assignment

14 Lecturer: Sebastian Valencia

You might also like