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(CASO MONOVARIABLE)
Alain Gauthier
x Ax Bu
1 Sistema Controlable y Observable
y Cx Du
x P~
x
~~
x A ~u
x B
~
2 ~~ ~ Forma Cannica
y Cx Du
~ P 1 AP
A
B~ P 1B
C~ CP
C
CA
CA 2
V = Matriz de Observabilidad de (1) =
CA n 1
Polinomio caracterstico:
b1 s n1 b2 s n 2 ... bn1 s bn
= D
s n a1 s n1 ... a n 1 s a n
Ecuacin Diferencial (solamente si D = 0)
dny d n1 y dy d n1u d n2 u du
n
a1 n 1
... a n 1 a n y b1 n 1
b2 n2
... bn1 bn u
dt dt dt dt dt dt
1 1 b1
a 1 0 b
1 2 2
*
a n 1 a1 1 n bn
Formas cannicas de observabilidad
(caso monovariable)
P V 1V~
Transformaciones:
~ V~ 1VB
B
a n 1 a1 1
V~ I n (P = V-1) V~ 1
a1 0
1
1 2
0 1 0 0 1 0 0 0 an bn
0 0 1 1 0 0
a n 1 b
2 n 1
~ 0 0 0 ~ ~ 0 1 0 an2 ~
A B A B
0 0 0 0 1 0 0 0
a n a n 1 an2 a1 n 0 0 1 a1 b1
C 1 0 0 0 C 0 0 0 1
~ ~D ~ ~D
D D
Rotacin Rotacin
3 4
a1 a2 a3
an n a1 1 0 0 b1
1 0 0 a 0 1 b
n 1 2 2
~ 0 1 0 ~ ~ a3 0 0 ~
A B A B
0 0 0 0 an 1 0 0 0 1
0 0 0 1 0 1 an 0 0 0 0 b n
C 0 0 0 1 C 1 0 0 0
~ ~D ~ ~D
D D
P UU~ 1
Transformaciones:
~ CUU~ 1
C
a n 1 a1 1
U~ I n (P = U) U~ 1
a1 0
1
5 6
0 0 0
an 1 0 1 0 0 0
1 0 0 a n 1 0 0 0 1 0
~ 0 1 0 an2 ~ ~ 0 0 0 ~
A B A B
0 0 0 0 0 0 0 1
0 0 1 a1 0 a n a n 1 an2 a1 1
C 1 2 3 n C bn bn 1 b1
~ ~D ~ ~D
D D
Rotacin Rotacin
7 8
a1 1 0 0 0 a1 a2 a3 an 1
a 0 1 0 1 0 0 0
2
~ a3 0 0 ~ 0 1 0
A B~ A B~
an 1 0 0 0 1 0 0 0 0
an 0 0 0 0 1 0 0 0 1 0 0
C n n 1 1 C b1 b2 bn
~ ~D ~ ~D
D D