Digital Control Systems

Controllability&Observability
CONTROLLABILITY
Complete State Controllability for a Linear Time Invariant Discrete-Time Control System
CONTROLLABILITY
Complete State Controllability for a Linear Time Invariant Discrete-Time Control System

Controllability matrix
CONTROLLABILITY
Complete State Controllability for a Linear Time Invariant Discrete-Time Control System
CONTROLLABILITY
Complete State Controllability for a Linear Time Invariant Discrete-Time Control System
Condition for complete state controllability
CONTROLLABILITY
Complete State Controllability for a Linear Time Invariant Discrete-Time Control System
Condition for complete state controllability
CONTROLLABILITY
Complete State Controllability for a Linear Time Invariant Discrete-Time Control System
Condition for complete state controllability

Example:
CONTROLLABILITY
Complete State Controllability for a Linear Time Invariant Discrete-Time Control System
Condition for complete state controllability

Example:
CONTROLLABILITY
Determination of Control Sequence to Bring the Initial State to a Desired State
CONTROLLABILITY
Condition for Complete State Controllability in the z-Plane

Example:
CONTROLLABILITY
Complete Output Controllability
CONTROLLABILITY
Complete Output Controllability
CONTROLLABILITY
Complete Output Controllability
CONTROLLABILITY

Controllability from the origin : controllability : reachability

OBSERVABILITY
OBSERVABILITY
OBSERVABILITY
Complete Observability of Discrete-Time Systems
OBSERVABILITY
Complete Observability of Discrete-Time Systems
OBSERVABILITY
Complete Observability of Discrete-Time Systems

Observability matrix
OBSERVABILITY
Complete Observability of Discrete-Time Systems
OBSERVABILITY
Complete Observability of Discrete-Time Systems

Example:
OBSERVABILITY
Complete Observability of Discrete-Time Systems

Example:
OBSERVABILITY
Popov-Belevitch-Hautus (PBH) Tests for Controllability/Observability

[ ] =

[ ] =

SDLTI is observable iff =

SDLTI is constructible iff

= 0

SDLTI is controllable/reachable/controllable from the origin iff =

SDLTI is controllable to zero iff = 0

OBSERVABILITY
Popov-Belevitch-Hautus (PBH) Tests for Controllability/Observability

[ ] =

[ ] =

SDLTI is observable iff =

SDLTI is constructible iff

= 0

SDLTI is controllable/reachable/controllable from the origin iff =

SDLTI is controllable to zero iff = 0

OBSERVABILITY
Condition for Complete Observability in the z-Plane

Example:

Note: A square matrix

Ann is non-singular
only if its rank is
equal to n.

Since, det ( ), rank ( ) is less than 3.

OBSERVABILITY
Condition for Complete Observability in the z-Plane

Example:
Since, det ( )=0, rank ( ) is less than 3.
OBSERVABILITY
Principle of Duality

S1: S2:
OBSERVABILITY
Principle of Duality
OBSERVABILITY
Principle of Duality

S1 is completely state controllabe S2 is completely observable.

S1 is completely observable S2 is completely state controllable.

 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Transforming State-Space Equations Into Canonical forms:
 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Transforming State-Space Equations Into Canonical forms:
 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Transforming State-Space Equations Into Canonical forms:
 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Transforming State-Space Equations Into Canonical forms:
 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Transforming State-Space Equations Into Canonical forms:
 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Transforming State-Space Equations Into Canonical forms:
 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Invariance Property of the Rank Conditions for the Controllability Matrix and Observability Matrix
 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Kalmans Controllability Decomposition

Kalman Decomposition:
 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Kalman Decomposition

Kalman Decomposition:
 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Kalmans Controllability Decomposition
 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Kalmans Controllability Decomposition

Partition the transformed into

 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Kalmans Controllability Decomposition
Example:

x(k+1)= x(k) + u(k)

 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Kalmans Observability Decomposition

A W 1 AW
B W 1 B
C CW
 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Kalmans Controllability and Observability Decomposition
 USEFUL TRANSFORMATION IN STATE-SPACE ANALYSIS
AND DESIGN
Kalmans Controllability and Observability Decomposition

V 0
T
0 W

0
=
0