• 제목, 요약, 키워드: gross measure of controllability

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선형 시변 시스템에 대한 모드 및 총가제어성/가관측성 척도 (Measures of modal and gross controllability/observability for linear time-varying systems)

  • 최재원;이호철;이달호
    • 제어로봇시스템학회논문지
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    • v.5 no.6
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    • pp.647-655
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    • 1999
  • For linear time-varying systems described by the triple (A(t),B(t),C(t)) where A(t),B(t),C(t) are the system, the input, and the output matrices, respectively, we propose concepts for measures of modal and gross controllability /observability. We introduce a differential algebraic eigenbvalue theory for linear time-varying systems to calculate the PD-eigenvalues and left and right PD-eigenvectors of the system matrix A(t) which will be used to derive the concepts for the measures. The time-dependent angle between the left PD-eigenvectors of the system matrix A(t) and the columns of the input matrix B(t), and the magnitude of the each element of the input matrix B(t) are used to propose the modal controllability measure. Similarly, the time-dependent angle between the right PD-eigenvectors of the system matrix A(t) and the rows of the output matrix C(t) are used to propose the madal observability measure. Gross measure of controllability of a mode from all inputs and its gross measure of observability in all outputs for the linear time-varying systems are also proposed. Numerical examples are presented to illustrate the proposed concepts.

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가제어성 및 외란 가억제성 척도를 고려하는 출력되먹임 고유구조 지정 (Output feedback left eigenstructure assignment considering controllability and disturbance suppressibility measures)

  • 최재원;이장규;김유단;강태삼
    • 제어로봇시스템학회논문지
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    • v.1 no.2
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    • pp.71-77
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    • 1995
  • The control effectiveness and disturbance suppressibility are mainly governed by a left eigenstructure of a system. In this paper, a control algorithm which uses an output feedback eigenstructure assignment scheme is proposed in order that a desired closed-loop system has the specified degree of controllability and/or degree of disturbance suppressibility. To do this, a modal and a gross disturbance suppressibility measures are proposed. A modified version of Hamdan and Nayfeh's modal controllability measure is also presented. The validity and usefulness of the proposed measures and the controller design algorithm are illustrated by designing a controller for a third-order system as an example.

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