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State Controllability and Observability Explained

A system is completely state controllable if it can transition between any two states using a control vector, which can be tested using Kalman’s or Gilbert’s tests. The controllability is determined by the rank of the composite matrix Qc formed from the system's state equation. Similarly, a system is completely observable if all states can be identified from output measurements, verified by the rank of the composite matrix Qo.

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Minimol Raj
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5 views2 pages

State Controllability and Observability Explained

A system is completely state controllable if it can transition between any two states using a control vector, which can be tested using Kalman’s or Gilbert’s tests. The controllability is determined by the rank of the composite matrix Qc formed from the system's state equation. Similarly, a system is completely observable if all states can be identified from output measurements, verified by the rank of the composite matrix Qo.

Uploaded by

Minimol Raj
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd

A system is said to be completely state

controllable if it is possible to transfer the system


state from any initial state X(t0) to any other desired
state X(td) in specified finite time by a control vector
U(t). The controllability of a state model can be
tested by Kalman’s test or Gilbert’s test.
A system with state equation, Ẋ = AX+BU composite
matrix Qc can be formed as
Qc = [B AB A2B………….An-1B]
Where, n is the order of the system (n is also equal
to number of state variables). In this case the
system is completely state controllable if the rank of
the composite matrix, Qc is n.
A system is said to be completely observable if
every state X(t) can be completely identified by
measurements of the output Y(t) over a finite time
interval. The observability of a system can be tested
by either Gilbert’s method or Kalman’s method.
A system with state model, Ẋ = AX+BU; Y = CX+DU;
For this system a composite matrix, Q o can be
formed such that,
Qo = [CT ATCT (AT)2 CT (AT)3 CT……….(AT)n-1 CT]
Where, n is the order of the system (n is also equal
to the number of state variables). In this case, the
system is completely observable if the rank of the
composite matrix, Qo is n.

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