Julio H. Braslavsky
julio@ee.newcastle.edu.au
x = Ax + Bu A Rnn , B Rnp ,
where pn qp
(SE)
y = Cx + Du CR ,D R .
x = Ax + Bu A = PAP1 , B = PB,
where
y = Cx + Du C = CP1 , D = D,
xC : n1 controllable states
e
C
xCe : n n1 uncontrollable states
Uncontrollable
xC : n1 controllable states
e
C
xCe : n n1 uncontrollable states
Uncontrollable
x C = AC xC + BC u
y = CC x + Du
is controllable and has the same transfer function as the original state
equation (SE).
The M ATLAB function ctrbf transforms a state equation into its control-
lable/uncontrollable canonical form.
x O = AO xO + BO u
y = CO x + Du
is observable and has the same transfer function as the original state
equation (SE).
The M ATLAB function obsvf transforms a state equation into its observ-
able/unobservable canonical form.
e
CO
eO
C e
Uncontrollable
eO
C e
Uncontrollable
Uncontrollable
y = [1 0 1 1]x
x = [ 11 01 ] x + [ 10 01 ] u
^
y = [1 2]x
which has the same transfer matrix than the original system
h i
s+1
G(s) = s2 2s+1 s1 .2