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Controllability & Observability in Systems

This document summarizes a lecture on controllability and observability of linear time-invariant systems. It defines controllability as the ability to transfer a system between any two states in finite time using control inputs, and observability as the ability to determine the system state using output measurements over time. It provides conditions for determining controllability and observability using the system and input/output matrices. The principle of duality relating controllability and observability is described. Examples are presented to illustrate concepts of stabilizability and detectability of uncontrollable/unobservable systems.

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179 views11 pages

Controllability & Observability in Systems

This document summarizes a lecture on controllability and observability of linear time-invariant systems. It defines controllability as the ability to transfer a system between any two states in finite time using control inputs, and observability as the ability to determine the system state using output measurements over time. It provides conditions for determining controllability and observability using the system and input/output matrices. The principle of duality relating controllability and observability is described. Examples are presented to illustrate concepts of stabilizability and detectability of uncontrollable/unobservable systems.

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Lecture – 20

Controllability and Observability of Linear


Time Invariant Systems

Prof. Radhakant Padhi


Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore

Controllability of Linear Time Invariant Systems

Prof. Radhakant Padhi


Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore

1
Controllability
• A system is said to be controllable at time t0 if it
is possible by means of an unconstrained
control vector to transfer the system from any
initial state to any other state in a finite
interval of time

• Controllability depends upon the system matrix


A and the control influence matrix B
Prof. Radhakant Padhi, IISc-Bangalore 3

Graphical Meaning

Must happen in finite time.

Prof. Radhakant Padhi, IISc-Bangalore 4

2
Condition for Controllability:
(single input case)
System:

Solution:

Assuming

Prof. Radhakant Padhi, IISc-Bangalore 5

Condition for Controllability:


(single input case)

where

This system should have a non-trivial solution for

Prof. Radhakant Padhi, IISc-Bangalore 6

3
Controllability
Result:

Example:

Prof. Radhakant Padhi, IISc-Bangalore 7

Output Controllability
Result:

Prof. Radhakant Padhi, IISc-Bangalore 8

4
Observability of Linear Time Invariant Systems

Prof. Radhakant Padhi


Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore

Observability
• A system is said to be observable at time
t0 if, with the system in state X(t0) ,it is
possible to determine this state from the
observation of the output over a finite
interval of time

• Observability depends upon the system


matrix A and the output matrix C
Prof. Radhakant Padhi, IISc-Bangalore 10

5
Observability
Result:

Example:

Prof. Radhakant Padhi, IISc-Bangalore 11

Controllability and Observability


in Transfer Function Domain
 The system is both controllable and
observable if there is no Pole-Zero
cancellation.

 Note: The cancelled pole-zero pair


suppresses part of the information about
the system

Prof. Radhakant Padhi, IISc-Bangalore 12

6
Principle of Duality
System S1:

System S2:

The principle of duality states that the system S1 is controllable if


and only if system S2 is observable; and vice-versa!
Hence, the problem of observer design for a system is actually a
problem of control design for its dual system.

Prof. Radhakant Padhi, IISc-Bangalore 13

Stabilizability and Detectability


 Stabilizable system: Uncontrollable
system in which uncontrollable part is
stable

 Detectable system: Unobservable


system in which the unobservable
subsystem is stable

Prof. Radhakant Padhi, IISc-Bangalore 14

7
Example
Ref: B. Friedland, Control System Design, McGraw Hill, 1986

Prof. Radhakant Padhi, IISc-Bangalore 15

Example
Ref: B. Friedland, Control System Design, McGraw Hill, 1986

Transfer Function:

Implication: What appears to be a fourth-order system, is


actually a first-order system! Hence, there is
either loss of controllability or observability
(or both).

Question: Is this system stabilizable?


Prof. Radhakant Padhi, IISc-Bangalore 16

8
Example
Ref: B. Friedland, Control System Design, McGraw Hill, 1986

Prof. Radhakant Padhi, IISc-Bangalore 17

Example
Ref: B. Friedland, Control System Design, McGraw Hill, 1986

Prof. Radhakant Padhi, IISc-Bangalore 18

9
Where do uncontrollable or
unobservable systems arise?

 Redundant state variables

 Physically uncontrollable system

 Too much symmetry

Prof. Radhakant Padhi, IISc-Bangalore 19

References

 K. Ogata: Modern Control Engineering,


3rd Ed., Prentice Hall, 1999.

 B. Friedland: Control System Design,


McGraw Hill, 1986.

Prof. Radhakant Padhi, IISc-Bangalore 20

10
Prof. Radhakant Padhi, IISc-Bangalore 21

11

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