Modern Control Tutorial 7 Presentation 390 (1) 408

Modern Control
GUC
Faculty of Engineering and Material Science
Department of Mechatronics
Tutorial #7
Controllability and Observability
Modern Control MCTR 702
Dr. Ayman Ali El-Badawy
Tutorial #7
Controllability and Observability
GUC
Controllability
In other words, the controllability check answers the question can the input
affect the state variables, consequently control them? If the answer is yes for
all state variables, then the system is completely controllable. But, If there is
one of the state equations such that the state derivative depends on neither the
input nor another state variable that is dependent on the input, then the system
is NOT completely controllable.
GUC
Controllability Checks: 1- Modal Check

a. If the system is in the diagonal form, matrix A is diagonal, and the B matrix has no
zero rows, then the system is completely controllable.

b. If the system has repeated Eigen values, its A matrix can not be fully diagonalized
(it has Jordan blocks).

u
x
x
x
x
x
x
x
x
(
(
(
(
+
(
(
(
(
(
(
(
(
=
(
(
(
(
0
1
1
0
2 0 0 0
1 2 0 0
0 0 1 0
0 0 1 1
4
3
2
1
4
3
2
1

Example: Consider the following system, in the first Jordan block, the non-
zero entry in the matrix B corresponds to the bottom row controllable.
But, in the second Jordan block, the non-zero entry in the matrix B
corresponds to the upper row uncontrollable.
GUC

GUC
Controllability Checks: 2- Controllable Canonical Form Check
GUC
Controllability Checks: 3- General Check

If the controllability matrix P has full row rank (n), then the system is
completely controllable.

Remember: if P is a square matrix, we can check on the full rank by checking
the non zero determinant for P.
GUC
Problem 1:
Check the controllability of the following systems:
The system is in the diagonal form (the matrix A is diagonal), and the matrix B has
no zero rows. Thus the system is completely controllable.
The system is in the diagonal form (the matrix A is diagonal), and the matrix B has
a zero row. Thus the system is NOT completely controllable.
Performing the general check:
| |
0
2 1
2 1
2
2
,
=
(

=
(
= =
P
P AB AB B P
the system is NOT completely controllable.
GUC
Problem 2:
Check the controllability of the following system:
If we look at the system with first input only, we will find that this input affects only
X
2
which in turn does not affect any of the other state variables, i.e., the state
variables X
1
and X
3
are uncontrollable. Thus the system is NOT completely
controllable with respect to the first input only.

Considering the second input only, this input affects only X
1
which in turn affects
X
3
but not X
2
, i.e., the state variable X
2
is uncontrollable. Thus the system is NOT
completely controllable with respect to the second input only.

Now each input fails individually to control the three state variables. And the
question is Can the two inputs together control the whole system?
The controllability check can answer this question.
(
(
(
=
(
(
(

=
0 0
0 1
1 0
,
6 0 6
0 1 0
1 0 0
B A
Solution:
GUC
| |
(
(
(
=
(
(
(

= =
(
(
(
=
=
36 0
0 1
6 0
6 0
0 1
0 0
0 0
0 1
1 0
36 0
0 1
6 0
) ( ,
6 0
0 1
0 0
2
2
P
AB A B A AB
B A AB B P
Notice the 1
st
, 2
nd
, and 4
th
columns represent the three standard basis vectors
(echelon form). Thus the P matrix has full rank and the system is completely
controllable using the two inputs together.
(
(
(
=
(
(
(

=
0 0
0 1
1 0
,
6 0 6
0 1 0
1 0 0
B A
GUC
Observability
In other words, the observability check answers the question Do the state
variables affect the output? Consequently they can be extracted from the
output If the answer is yes, for all state variables, then the system is
completely observable. But, If there is one of the state variables that affects
neither the output nor another state variable that affects the output, then the
system is NOT completely observable.
GUC
Observability Checks: 1- Modal Check

a. If the system is in the diagonal form, matrix A is diagonal, and the C matrix has no
zero columns, then the system is completely observable.

b. If the system has repeated Eigen values, its A matrix can not be fully diagonalized
(it has Jordan blocks).
A system in Jordan form is completely observable iff there is only one Jordan block for
Each Eigen value, and the column of the matrix corresponding to the
Variable of the first column of each Jordan block is non zero (the most left entry of the
block).
| |
| | 1 0 0 1 y
arbit.
2 0 0 0
1 2 0 0
0 0 1 0
0 0 1 1
4
3
2
1
4
3
2
1
=
+
(
(
(
(
(
(
(
(
=
(
(
(
(
u
x
x
x
x
x
x
x
x

Example: Consider the following system, in the first Jordan block, the non-
zero entry in the matrix C corresponds to the first column observable.
But in the second Jordan block, the non-zero entry in the matrix C corresponds
to the second column unobservable.
CM C =
GUC

GUC
Observability Checks: 2- Observable Canonical Form Check

GUC
Observability Checks: 3- General Check
If the observability matrix Q has full row rank (n), then the system is
completely observable.

Remember: if Q is a square matrix, we can check the rank by checking the
non zero determinant for Q.
GUC
Problem 3:
Check the observability of the following systems:
The system is in the diagonal form (the matrix A is diagonal), and the matrix C has
no zero columns. Thus the system is completely observable.
The system is in the diagonal form (the matrix A is diagonal), and the matrix C has
a zero column. Thus the system is NOT completely observable.
Performing the general check:
| |
(
= =
(
=
1 1
1 1
1 1 , Q CA
CA
C
Q
the system is NOT completely observable.
| | 1 1 ,
1 1
0 2
c. =
(
= C A
GUC
Similarity Transformations and Canonical Forms

The transformation matrix T that transforms any system into the controllable
canonical form is given by: where:
1
=
CCF sys CCF
P P T
2. Observable Canonical Form:
The transformation matrix T that transforms any system into the observable
canonical form is given by: where:
( )
1
1

=
sys OCF OCF
Q Q T
1 1
=
CCF OCF
P Q
1. Controllable Canonical Form:
D D CT C B T B AT T A = = = =

,
1 1
GUC
3. Diagonal Canonical Form (Jordan):
a. The transformation matrix T that transforms any system into the diagonal
canonical form is the matrix constituted from the Eigen vectors

b. The transformation matrix that transforms the system, from its controllable
canonical form to its Jordan form, is the transposed Vandermonde matrix.
GUC
4. Duality Principle:
a. Consider the following two systems:

These two systems are called dual to each other;

i.e., if one system is controllable, the other is observable and vice versa.

b. The controllable canonical form and the observable canonical form are dual forms
to each other, and then:
CCF
OCF
T
CCF OCF
T
CCF OCF
T
CCF OCF
D D B C C B A A = = = = , , ,
Du Cx y
Bu Ax x
+ =
+ =
Du z B y
u C z A z
T
T T
+ =
+ =
sys dual sys sys dual sys
, P Q Q P = =
GUC
Problem 5:
For the following system, determine :
1. its controllable canonical form.
2. its observable canonical form.
3. its Jordan form, from the controllable from.

| | 1 1 1 ,
0
1
1
,
6 0 6
0 1 0
1 0 0
=
(
(
(
=
(
(
(

= C B A
GUC
Solution:
1. Controllable Canonical Form:
| |
(
(
(
= =
(
(
(
= =
(
(
(
=
36
1
6
6
1
0
0
1
1
36
1
6
) ( ,
6
1
0
2
2
B A AB B P
AB A B A AB
Getting the Coefficients:
( )
, 6 , 0 , 5 , 1
6 5 ) 6 6 ( 6 5
6 0 6
0 1 0
1 0
0 1 2 3
2 3 2
= = = =
+ = + + =
+

=
a a a a
A I
GUC
| | 2 5 6 ,
1
0
0
,
5
1
0
0
0
1
6
0
0
0
1
1
6
6
5
6
6
6
0
0
1
0
1
5
1
5
0
36
1
6
6
1
0
0
1
1
0
0
1
0
1
1
1 1
2
2
1
= =
(
(
(
= =
(
(
(
= =
(
(
(
=
(
(
(
(
(
(
=
(
(
(
=

CT C B T B AT T A
a
a
a
P T
CCF CCF CCF
CCF
Then the transformation matrix is given by:
2. Observable Canonical Form:
We can use the principle of duality
CCF
OCF
T
CCF OCF
T
CCF OCF
T
CCF OCF
D D B C C B A A = = = = , , ,
GUC
| | 1 0 0 ,
2
5
6
,
5
0
6
1
0
0
0
1
0
=
(
(
(
=
(
(
(
=
OCF OCF OCF
C B A
3. Diagonal Canonical Form:
Solve the characteristic equation to get the Eigen values in order to construct the
Vandermonde matrix:
(
(
(
= =
(
(
(
=
=
= +
1 3923 . 22 6077 . 1
1 7321 . 4 2679 . 1
1 1 1
1 1 1
3923 . 22 7321 . 4 1
6077 . 1 2679 . 1 1
1 , 7321 . 4 , 2679 . 1
0 6 5
2 3
T
V T V

GUC
| | 13 1244 . 27 8756 . 2
0769 . 0
0504 . 0
1273 . 0
1 0 0
0 7321 . 4 0
0 0 2679 . 1
1
1
= =
(
(
(
= =
(
(
(
= =
T C C
B T B
T A T A
CCF Jordan
CCF Jordan
CCF Jordan

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