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Controllability & observability<br />
• Consider a system with state vector:<br />
(we control, actuate)<br />
System<br />
(we observe, measure)<br />
x : neither controllable nor observable in general<br />
• Controllability: How much can we control x by<br />
controlling u?<br />
• Observability: How much can we observe x by<br />
observing y?<br />
2008/09 MECH468/550P 3
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