pdf (slide per page) - UBC Mechanical Engineering - University of ...
pdf (slide per page) - UBC Mechanical Engineering - University of ...
pdf (slide per page) - UBC Mechanical Engineering - University of ...
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Why controllability & observability<br />
important?<br />
• Clarify essential/redundant sensors/actuators<br />
• Clarify the “structure” <strong>of</strong> the system<br />
• Which state is controllable, uncontrollable,<br />
observable, unobservable?<br />
• Which state is redundant from input-output viewpoint?<br />
(Minimality<br />
<strong>of</strong> a realization)<br />
• Clarify possibilities and limitations in<br />
• Control (state-feedback, linear quadratic regulator)<br />
• Estimation (observer, Kalman filter)<br />
2008/09 MECH468/550P 6
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