5.

CONTROLLABILITY AND OBSERVABILITY Theory Contents:

5.1 Controllability 5.2 Observability 5.3 Example system

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

Objectives: I Learn the concepts of Controllability and Observability I Learn how to construct the Controllability and Observability matrices.

5.1 Controllability (Via the Modal Form)

Let us consider the system in modal canonical form:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

All the modes can be modified by the input. However:

5.1 Controllability (Via the modal form)

Therefore the system:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

Is said to be uncontrollable. FOR REPEATED ROOTS: Controllable: Uncontrollable:

5.1 Controllability (Via the modal form)

COMPLEX EIGENVALUES: Controllable:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

Uncontrollable:

5.1 Controllability (Via the modal form)

Therefore the system:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

Is said to be uncontrollable. DEFINITION: Controllability: A system is said to be controllable if there exists a control law u(t) which can bring the state of the system (x) to any desired state (x0). In the above example, we cannot influence y1 at all. Therefore, we cannot force the state vector to reach a particular value y=y0. Any linear system can be partitioned into Controllable and Uncontrollable parts.
5

5.1 Controllability Via the Controllability Matrix

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

It is not neccessary to convert the system into modal canonical form to study its controllability. We can used what is known as Controllability Matrix. Which is defined as follows:

The dimensions of matrix C are n x n.m. Remember n is the order of the system and m is the number of inputs. Therefore, the Controllability Matrix is square for single input systems. If the rank of the Controllability Matrix is less than the order of the system, the system is Uncontrollable. The number of uncontrollable modes is: n rank(C)

5.1 Controllability Via the Controllability Matrix

Eg:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

The rank of the controllability matrix is 1, therefore, the system is uncontrollable.

5.1 Controllability Via the Controllability Matrix

Eg:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

The rank of the controllability matrix is 3, therefore, the system is controllable.

8

5.2 Observability (Via the Modal Form)

Let us consider the system in modal canonical form:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

Mode y1 does not appear in the measurementes (outputs). Therefore, the system is UNOBSERVABLE.

5.2 Observability (Via the modal form)

Therefore the system:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

Is said to be Unobservable. DEFINITION: Observability: A system is said to be observable if the state vector can be reconstructed from the knowledge of the outputs.

In the above example, y1 does not appear at the output. Therefore, we cannot reconstruct the full state vector y using the outputs. Any linear system can be partitioned into Observable and Unobservable parts.
10

5.2 Observability Via the Observability Matrix

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

It is not neccessary to convert the system into modal canonical form to study its observability. We can used what is known as Observability Matrix. Which is defined as follows:

The dimensions of matrix O are n x n.r. Remember n is the order of the system and r is the number of outputs. Therefore, the Observability Matrix is square for single output systems. If the rank of the Observability Matrix is less than the order of the system, the system is Unobservable. The number of unobservable modes is: n rank(O)

11

5.2 Observability Via the Observability Matrix

NOTE:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

Any linear system can be partitioned into four subsystem: Controllable and Observable Subsystem Controllable but Unobservable Subsystem Uncontrollable and Observable Subsystem Uncontrollable and Unobservable Subsystem This is known as Kalmans Decomposition.

12

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

5.3 Example System

Eg.:
U(s) s-1 s+4 G(s) 1 s-1 H(s) V(s)

13

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

5.3 Example System

Eg.:
U(s) -5 s+4 G(s) x2(s) 1 s-1 H(s) x1(s) V(s)

14

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

5.3 Example System

15

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

5.3 Example System

OK, let us control the unstable mode:

Rank (C)=1, therefore the system has 1 uncontrollable mode. Which one?

16

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

5.3 Example System

17