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Dig Cont 07

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Dig Cont 07

Uploaded by

alsamanisust
Copyright
© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
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Controllability and Observability of

Digital Control Systems


Definition
• A controllable system is a system that its modes
are affected by the input.
• Controllability is the ability of the system to be
controlled.
• A system is said to be controllable if for any initial
state x(k0) there exists a control sequence u(k),
k=k0 , k0+1 , …., Kf-1 , such that an arbitrary final
state x(kf) can be reached in finite kf .
Controllability Condition
A linear time-invarient system is completely
controllable if the controllability matrix is
nonzero:
pc   B d Ad B d A B
d
2
A d
n 1
B 
Example
Observability
• The system state is estimated from time history of
the measurements and controls.
• State estimation is only possible with proper
choice of the measurement vector.
• System whose measurements are so chosen is said
to be observable.
• The system is said to be observable if any initial
state x(k0) can be estimated from the control
sequence u(k), k=k0 , k0 +1, …,kf -1 and the
measurement y(k)=k0 , k0 +1 ,…,kf .
Observability
The observability is the ability to estimate all system modes
using its controls measurements.
A linear time-invarient system is observable if the
observability matrix
is nonzero:
C 
CA 
 d 
Po  CAd2 
 
 
CA n 1 
 d 
Example
If a system has the following information find
its observability matrix, then check wether is it
ovservable or not.
0 1 0
Ad   0 0 1  , and C d  1 0 0
 
-a 0 -a1 -a 2 
C d 
 
Solution: Po  C d Ad  , C d Ad   0 1 0 ,
C A 2 
 d d
CAd2   0 0 1
1 0 0
 Po  0 1 0
 
0 0 1
As the observability matrix is nonzero the system is observable.

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