Vidya Prasarak Mandal, Thane’s
Maharshi Parshuram College Of Engineering Mobile No. +91 9324510629
Hedvi-Guhagar road, At: Velneshwar, Taluka: Guhagar, Dist: Ratnagiri E-mail:
[email protected] /
(Maharashtra) 415 729
[email protected] (AICTE & DTE approved and affiliated to University of Mumbai) URL:www.vpmmpcoe.org
Accredited by NAAC ‘ B ’ grade
Department of Instrumentation Engineering
Mr. Kunal Kishor, Assistant Professor
(Control System Design)
Module – 03
CONTROLLABILITY OF CONTROL SYSTEMS
The concepts of controllability and observability introduced first by Kalman , play
an important role in both theoretical and practical aspects of modern control. The
conditions on controllability and observability essentially govern the existence of a
solution to an optimal control problem. This seems to be the basic difference
between optimal control theory and classical control theory. In the classical control
theory, the design techniques are dominated by trial-and-error methods so that
given a set of design specifications the designer at the outset does not know if any
solution exists. Optimal control theory, on the other hand has criteria for
determining at the outset if the design solution exists for the system parameters and
design objectives.
We shall show that the condition of controllability of a system is closely related to
the existence of solutions of state feedback for assigning the values of the
eigenvalues of the system arbitrarily. The concept of observability relates to the
condition of observing or estimating the state variables from the output variables,
which are generally measurable.
General Concept of Controllability
The concept of controllability can be stated with reference to the block diagram of
above Figure. The process is said to be completely controllable if every state
variable of the process can be controlled to reach a certain objective in finite time
by some unconstrained control u(t), it is simple to understand that, if any one of the
state variables is independent of the control u(t), there would be no way of driving
this particular state variable to a desired state in finite time by means of a control
effort. Therefore, this state is said to be uncontrollable, and, as long as there is at
least one uncontrollable state, the system is said to be not completely controllable.
Definition of state controllability
Consider time-invariant system is described by the following dynamic equations.
Theorem: For the system described by the state equation of Eq. (i) to be
completely state controllable, it is necessary and sufficient that the following n × nr
controllability matrix has a rank of n:
S = [B AB A2B … An -1B] …….(iii)
Because the matrices A and B are involved, sometimes we say that the pair [A, B]
is controllable, which implies that S is of rank n.
Alternate Tests on Controllability
There are several alternate methods of testing controllability, and some of these
may be more convenient to apply than the condition in Eq. (iii).
Theorem: For a single-input, single-output (SISO) system described by. the state
equation of Equation (i) with r = 1, the pair [A, B] is completely controllable if A
and B are in CCF or transformable into CCF by a similarity transformation.
Theorem: For a system described by the state equation of Eq. (i), if A is in DCF or
JCF, the pair [A, B] is completely controllable if all the elements in the rows of B
that correspond to the last row of each Jordan block are nonzero.
The proof of this theorem comes directly from the definition of controllability. Let
us assume that A is diagonal and that it has distinct eigenvalues. Then, the pair [A,
B] is controllable if B does not have any row with all zeros. The reason is that, if A
is diagonal, all the states are decoupled from each other, and, if any row of B
contains all zero elements, the corresponding state would not be accessed from any
of the inputs, and that state would be uncontrollable. For a system in JCF, such as
the A and B matrices illustrated in Eq. (iv), for controllability only the elements in
the row of B that correspond to the last row of the Jordan block cannot all be zeros.
The elements in the other rows of B need not all be nonzero, since the
corresponding states are still coupled through the Is in the Jordan blocks of A.
Thus, the condition of controllability for the A and B in Eq. (iv) is b31 ≠ 0, b32 ≠ 0
b41 ≠ 0, b42 ≠ 0.
OBSERVABILITY OF LINEAR SYSTEMS
A system is completely observable If every state variable of the system affects
some of the outputs. In other words, it is often desirable to obtain information on
the state variables from the measurements of the outputs and the inputs. If any one
of the states cannot be observed from the measurements of the outputs, the state is
said to be unobservable, and the system is not completely observable or, simply,
unobservable. Figure 8(a) shows the state diagram of a linear system in which the
state x2
Consider time-invariant system is described by the following dynamic equations.
Theorem: For the system described by Eqs. (i) and (ii) to be completely
observable, it is necessary and sufficient that the following n x np obsevability
matrix has a rank of n:
The condition is also referred to as the pair [A, C] being observable. if the system
has only one output, C is a1 × n row matrix; V is an n × n square matrix. Then the
system is completely observable if V is non-singular.
The proof of this theorem is not given here. It is based on the principle that Eq. (iii)
must be satisfied so that x(to) can be uniquely determined from the output y(t),
Alternate Tests on Observability
Just as with controllability, there are several alternate methods of testing
observability. These are described in the following theorems.
Theorem 1: For an SISO system, described by the dynamic equations of Eqs. (i)
and (ii) with r = 1 and p = 1, the pair [A, C] is completely observable if A and C
are in OCF or transformable into OCF by a similarity transformation.
Theorem 2. For a system described by the dynamic equations of Eqs.(i)and (ii), if
A is in DCF or JCF, the pair [A, C] is completely observable if all the elements in
the columns of C that correspond to the first row of each Jordan block are nonzero.
Note that this theorem is a dual of the test of controllability given in Theorem If
the system has distinct eigenvalues, A is diagonal, then the condition on
observability is that none of the columns of C can contain all zeros.
State feedback with state observer
In the pole-placement approach to the design of control systems, we assumed that
all state variables are available for feedback.
State Observer
A state observer estimates the state variables based on the measurements of the
output and control variables.
Here the concept of observability plays an important role.
State observers can be designed if and only if the observability condition is
satisfied.
Consider the plant defined by
The mathematical model of the observer is basically the same as that of the plant,
except that we include an additional term that includes the estimation error to
compensate for inaccuracies in matrices A and B and the lack of the initial error.
The estimation error or observation error is the difference between the measured
output and the estimated output.
The initial error is the difference between the initial state and the initial estimated
state.
Thus we define the mathematical model of observer to be
Full Order State Observer
The order of the state observer that will be discussed here is the same as that of the
plant.
Consider the plant define by following equations
Equation of state observer is given as
To obtain the observer error equation, let us subtract Equation (2) from Equation
(1):
Simplifications in above equation yields
Equation (3) can now be written as
From above equation we see that the dynamic behavior of the error vector is
determined by the eigenvalues of matrix A-KeC.
If matrix A-KeC is a stable matrix, the error vector will converge to zero for any
initial error vector e(0).
And if the eigenvalues of matrix A-KeC are chosen in such a way that the dynamic
behavior of the error vector is asymptotically stable and is adequately fast, then
any error vector will tend to zero (the origin) with an adequate speed.
If the plant is completely observable, then it can be proved that it is possible to
choose matrix Ke such that A-KeC has arbitrarily desired eigenvalues.
That is, the observer gain matrix Ke can be determined to yield the desired matrix
A-KeC.
