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(1)
be a SISO system, where x IRn . The pair (A, b) is completely controllable if and only if for
each x1 , x2 IRn and for each T 0, there exists an admissible input u : [0, T ] IR with
the property that if x(t) is the solution of (1) with x(0) = x1 , then x(T ) = x2 .
We next present the result by Kalman, Ho and Narendra (1963) that provides a method to
verify the linear controllability property for a given pair (A, b).
Theorem 0.1 The continuous-time system (1) is completely controllable if and only if the
controllability matrix
C(A, b) = [b Ab An1 b]
has rank n.
Proof: For t > 0 define P (t) =
Rt
0
mian. We first show that C(A, b) is invertible P (t) is positive definite for all t > 0. Since
Rt
Rt
Let C(A, b) be not invertible. Then there exists a non-zero vector v IRn such that
v C(A, b) = 0 = v [b Ab An1 b] = 0. Now by Cayley-Hamilton theorem
An = 1 I + 2 A + + n An1
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Note that the notion of controllability is not tied to the nature of the system (linear/nonlinear).
where, the i s are not identically equal to zero. On pre and post multiplying the above by
v and b respectively, we have
v An b = 1 v b + 2 v Ab + + n v An1 b
invertible.
Conversely, let P (t) be not invertible. Then there exists a non-zero vector p IRn such
that
p eAt b = 0, t [0, T ].
(2)
(T t)
P (T )1 (eAT x1 x2 )
x1 = eAT q, then
Z
x1 +
eA(T ) bu( )d
0
Z T
q x(T ) = q q
q eA(T ) bu )d.
AT
x(T ) = e
Since the second term in the above is zero, we have q (x(T ) q) = 0 which further implies
that x(t) cannot be steered to the origin in time T .
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