28 - cont_decomp28 filled

28 - cont_decomp28 filled - ME 575 Handouts Controllable...

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ME 575 Handouts 1 ME575 Session 28: Controllable Decomposition School of Mechanical Engineering Purdue University Slide 1 Controllable Canonical Form Controllable Canonical Form Let ’s show that it must be controllable: s show that it must be controllable: CC 012 01 0 0 A 00 1 , B 0 1 ⎡⎤ ⎢⎥ == −−− ⎣⎦ aaa ME575 Session 28: Controllable Decomposition School of Mechanical Engineering Purdue University Slide 2 Controllable Canonical Form Controllable Canonical Form Thus, a controllable system can always be Thus, a controllable system can always be transformed into controllable canonical form: where where xTz xA x B u zA z B u = =+ = + ±± 11 A TAT ,B TB −− n1 C W[ B A B A B ] = " Cn 1 C C C C BA B A B ] = "
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ME 575 Handouts 2 ME575 Session 28: Controllable Decomposition School of Mechanical Engineering Purdue University Slide 3 Controllable Canonical Form Controllable Canonical Form 12 n1 2 1 T[ BA B AB ] 10 0 = " aa a ME575 Session 28: Controllable Decomposition School of Mechanical Engineering Purdue University Slide 4 Controllable Canonical Form Controllable Canonical Form In general, to transform to controllable canonical In general, to transform to controllable canonical form: where 3 n 1 23 4 C n2 1 TW 0 0 0 0 0 0 −− ⎡⎤
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This note was uploaded on 12/09/2011 for the course ME 575 taught by Professor Meckl during the Fall '10 term at Purdue.

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28 - cont_decomp28 filled - ME 575 Handouts Controllable...

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