Scribd
Upload
11 views23 pages

Lecture 03 Introduction To Stabilizability and Detectability

Uploaded by

Ohidul Islam
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 views23 pages

Lecture 03 Introduction To Stabilizability and Detectability

Uploaded by

Ohidul Islam
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/ 23

Sajal K. Das, Ph.D.

[email protected]

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Course Curriculum
Course No.: MTE 3101
Course Title: Control Systems
Lecture: 3 hrs. /week
No. of credit: 3.00

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Course Curriculum
Introduction: Review of different response and stability criterion, State space
modeling, linearization of nonlinear systems, Root locus analysis and frequency,
response analysis, Response of linear systems, Controllability and Observability
concept and test.
System Design: Design with gain adjustment, compensator and P, PI & PID
controllers.
Intelligent Control Systems: Sampling & holding, z-transform, representation
of digital system, solution properties, eigenvectors, structural decomposition,
controllability/observability, stabilizability /detectability, Optimal control
Method (LQR), LQG/Kalman Filtering Robust control and adaptive control
approaches, internal stability, small gain theorem, H-infinity control, parameter
estimation. Introduction to fuzzy logic with its control structure.

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Course Curriculum
Introduction: Review of different response and stability criterion, State space
modeling, linearization of nonlinear systems, Root locus analysis and frequency,
response analysis, Response of linear systems, Controllability and Observability
concept and test.
System Design: Design with gain adjustment, compensator and P, PI & PID
controllers.
Intelligent Control Systems: Sampling & holding, z-transform, representation
of digital system, solution properties, eigenvectors, structural decomposition,
controllability/observability, stabilizability /detectability, Optimal control
Method (LQR), LQG/Kalman Filtering Robust control and adaptive control
approaches, internal stability, small gain theorem, H-infinity control, parameter
estimation. Introduction to fuzzy logic with its control structure.

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Reference Book
1. Automatic Control Systems (with MATLAB PROGRAMS)
6th Revised Edition, by S. Hasan Saeed
2. Multivariable Feedback Control Analysis and design,
Second Edition by Sigurd Skogestad, and Ian Postlethwaite
3. Control System Engineering, Sixth Edition by Norman S.
Nise
4. Linear Robust Control by Michael Green and David
Limebeer
5. Modern Control Engineering by K. Ogata
Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh
Stabilizability and Detectability

Stabilizability refers to the ability to design a control system that can stabilize
an unstable or marginally stable system. A system is considered stabilizable if it
can be controlled such that its state trajectory converges to a desired
equilibrium point or follows a desired trajectory.

Stabilizability is important because it ensures that even if a system is inherently


unstable or marginally stable, it can still be effectively controlled to achieve
stability. Without stabilizability, it would be impossible to control such systems,
rendering them impractical or unsafe in real-world applications.

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

Detectability refers to the ability to accurately estimate the state of a system


based on its input-output measurements. A system is considered detectable if it
is possible to design an observer or estimator that can provide reliable
estimates of the system's state even in the presence of noise and disturbances.

Detectability is important because it allows us to implement feedback control


strategies based on the estimated state of the system rather than the exact
state, which may not always be directly measurable. Reliable state estimation is
crucial for feedback control systems to achieve desired performance and
robustness.

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

What statement can be made if a system is not fully


observable or not fully controllable?
If a system is not fully observable, it means that there are parts of the
If a system
system's is that
state not cannot
fully controllable,
be accuratelyitestimated
means that there
based areavailable
on the states of
the
outputsystem that cannot
measurements. As be directly
a result, the influenced or not
controller may controlled by the
have complete
available
information input
aboutsignals. Consequently,
the system's state, whichcertain aspects
can lead of the system's
to suboptimal or
behavior may be
unstable control uncontrollable or unreachable by the control
performance.
inputs, limiting the controller's ability to achieve desired
performance or stability.

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

In practical terms, if a system is not fully observable or controllable, it may


require modifications or additional resources to improve its observability or
controllability. This could involve redesigning the system's architecture,
adding additional sensors or actuators, or implementing advanced control
techniques to compensate for the limitations imposed by partial observability
or controllability.

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

Stabilizability means all unstable modes are controllable

Detectability means all unstable modes are observable

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

Stabilizability means all unstable modes are controllable/ all


uncontrollable modes are stable

Detectability means all unstable modes are observable/ all unobservable


modes are stable

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

If a system has full controllability then it is stabilisable and If a


system has full observability then it is detectable

A lack of controllability/observability can be due to


1. Pole/zero cancellation
2. A poor choice of measurements (number and type)
3. A poor choice of outputs (number and type)

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

A system is said to be minimal if the system has full controllability


and full observability

A non-minimal system has either uncontrollable or unobervable


modes or both

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

Controllable but not observable

observable but not Controllable

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

Observable, not Controllable, but stabilizable

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

Observable, not Controllable, not stabilizable

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Stabilizability and Detectability

• Summary
A system that has full controllability and observability
is always stabilizable and detectable and in minimal form

A lack of either controllability or observability indicates that the


system is
Not in minimal form. Depending on the nature of the uncontrollable
or unobservable mode such system may or may not lack
stabilizability or detectability

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh


Thank YOU

Department of Mechatronics Engineering, RUET, Rajshahi-6204, Bangladesh

You might also like