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MECH 468/522
MECH 468/522
Two decompositions
System
Decomposition for
controllability
Controllable part
Uncontrollable part
Decomposition for
observability
Observable part
Unobservable part
MECH 468/522
System
Kalman decomposition
Conceptual figure (Not block-diagram)
System
MECH 468/522
Kalman decomposition
Every SS model can be transformed by z=Tx for
some appropriate T into a canonical form:
Kalman decomposition 2
If the second and the third state vectors are
exchanged, one can get another form:
Remark
It may happen that some states are missing.
Ex. No controllable and unobservable part
MECH 468/522
Remarks
(Aco,Bco): controllable & (Aco,Cco): observable
Transfer function is determined by ONLY
controllable & observable parts.
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Eigenvalues of A-matrix
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MECH 468/522
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MECH 468/522
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Car1
Car2
Car3
x1: position
x2: velocity
x3: position
x4: velocity
x5: position
x6: velocity
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Velocity of
1st mass
Position of
3rd mass
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Derivation of T
Controllability matrix
Observability matrix
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Example (contd)
After transformation
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Summary
Kalman decomposition
Combination of
Decomposition for controllability
Decomposition for observability
MECH 468/522
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