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Why controllability & observability important? • Clarify essential/redundant sensors/actuators • Clarify the “structure” of the system • Which state is controllable, uncontrollable, observable, unobservable? • Which state is redundant from input-output viewpoint? (Minimality of a realization) • Clarify possibilities and limitations in • Control (state-feedback, linear quadratic regulator) • Estimation (observer, Kalman filter) 2008/09 MECH468/550P 6
A mechanical example • Mass-spring spring-damper 2008/09 MECH468/550P 7
Page 1 and 2: MECH468 Modern Control Engineering
Page 3 and 4: Controllability & observability •
Page 5: Model of three car example • Stat
Page 9 and 10: Controllability for LTI system •
Page 11 and 12: Examples • Ex Size of A-matrix Un
Page 13 and 14: Mechanical example: revisited • C
Page 15 and 16: • k1=0, u1=0u Uncontrollable case
Page 17 and 18: Homework • 2-3: Read and understa
Page 19 and 20: EXAMPLE 3-7 Obtain the transfer fun
Page 21: To derive the equations of motion f

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