6.2 Is the state equation 010 017 z=[0 0 1 [xt+]! Olu 02 o ol L controllable? Observable? 6.10 Reduce the state equation A 1 0 0 0 0 o 4 10 0 1 k=10 0 A 0 Ofxt]0]u 00 0&1 9 000 0% 1 y=(Ol1i0 1x toa controllable and observable equation. 5.18 Show that all eigenvatues of A have real parts less than ~4 < 0 if and only if, for any A'M+ MA +2«M =—N has a unique symmetric solution M and M is positive definite. 3.12 Let o 1 0 0 2 -3 0}. 8B 1}; afeR. 0 0 @ a a. Determine all values of a and f for which (4, B) is controllable. b. Forthose values of w and f for which (4, B) is not controllable, determine the uncontrollable eigenvalues. ¢. Determine all values of a and f for which (4, B) is C~-stabilizable. 3.7 Consider the system E given by (1) = Ax(1), y(f) = Cx(1) with state space X and output space ¥.. Denote the unobservable subspace (ker C | 4) by W. Let X denote the quotient space 2¢/ and let TT be the canonical projection. a. Let 1: % + Land : + Y be the quotient maps defined by N14 = 4M and CM = C. Show that (C, 4) is observable. (This system is usually called the observable quotient system of B.) b. Assume that (C, 4) is not observable and C is not zero. Show that there exists an invertible matrix S such that 4 := S~!4S and C := CS have the form (4 dE). C= ©), 22) is observable.3.8 Explain why it is reasonable to call the system 1 = 4111 the unobserv- able subsystem of Z. Consider the system © given by #(#) = Ax(t) + Bu(t), y() = Cx(s) with input space U, state space X and output space ¥. Let VC kerC be an A- invariant subspace. Denote the quotient space X/'V by X and let I be the canonical projection. Let 4: % > XB: U—+ XandC:X + Ybe the quotient maps defined by 4 = AI, B = 1B and CI = C. The system E given by £7) = A¥(1) + Bult), y(t) = CX(z) (with state space X) is often called the quotient system E modulo V. Show that the transfer functions of © and &, respectively. coincide