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Controllability
Controllability is an important property of a control system, and the controllability property plays a crucial role in many control problems, such as stabilization of unstable systems by feedback, or optimal control. Controllability and observability are dual aspects of the same problem. Roughly, the concept of controllability denotes the ability to move a system around in its entire configuration space using only certain admissible manipulations. The exact definition varies slightly within the framework or the type of models applied. The following are examples of variations of controllability notions which have been introduced in the systems and control literature: * State controllability * Output controllability * Controllability in the behavioural framework State controllability The state of a deterministic system, which is the set of values of all the system's state variables (those variables characterized by dynamic equations), completely describes the system at any give ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
State-space Representation
In control engineering, a state-space representation is a mathematical model of a physical system as a set of input, output and state variables related by first-order differential equations or difference equations. State variables are variables whose values evolve over time in a way that depends on the values they have at any given time and on the externally imposed values of input variables. Output variables’ values depend on the values of the state variables. The "state space" is the Euclidean space in which the variables on the axes are the state variables. The state of the system can be represented as a ''state vector'' within that space. To abstract from the number of inputs, outputs and states, these variables are expressed as vectors. If the dynamical system is linear, time-invariant, and finite-dimensional, then the differential and algebraic equations may be written in matrix form. The state-space method is characterized by significant algebraization of general system ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
State Space (controls)
In control engineering, a state-space representation is a mathematical model of a physical system as a set of input, output and state variables related by first-order differential equations or difference equations. State variables are variables whose values evolve over time in a way that depends on the values they have at any given time and on the externally imposed values of input variables. Output variables’ values depend on the values of the state variables. The "state space" is the Euclidean space in which the variables on the axes are the state variables. The state of the system can be represented as a ''state vector'' within that space. To abstract from the number of inputs, outputs and states, these variables are expressed as vectors. If the dynamical system is linear, time-invariant, and finite-dimensional, then the differential and algebraic equations may be written in matrix form. The state-space method is characterized by significant algebraization of general syste ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Controllability Gramian
In control theory, we may need to find out whether or not a system such as \begin \dot(t)\boldsymbol(t)+\boldsymbol(t)\\ \boldsymbol(t)=\boldsymbol(t)+\boldsymbol(t) \end is controllable, where \boldsymbol, \boldsymbol, \boldsymbol and \boldsymbol are, respectively, n\times n, n\times p, q\times n and q\times p matrices. One of the many ways one can achieve such goal is by the use of the Controllability Gramian. Controllability in LTI Systems Linear Time Invariant (LTI) Systems are those systems in which the parameters \boldsymbol, \boldsymbol, \boldsymbol and \boldsymbol are invariant with respect to time. One can observe if the LTI system is or is not controllable simply by looking at the pair (\boldsymbol,\boldsymbol). Then, we can say that the following statements are equivalent: 1. The pair (\boldsymbol,\boldsymbol) is controllable. 2. The n\times n matrix \boldsymbol(t)=\int_^e^\boldsymbole^d\tau=\int_^e^\boldsymbole^d\tau is nonsingular for any t>0. 3. The n\times n ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Rank (linear Algebra)
In linear algebra, the rank of a matrix is the dimension of the vector space generated (or spanned) by its columns. p. 48, § 1.16 This corresponds to the maximal number of linearly independent columns of . This, in turn, is identical to the dimension of the vector space spanned by its rows. Rank is thus a measure of the " nondegenerateness" of the system of linear equations and linear transformation encoded by . There are multiple equivalent definitions of rank. A matrix's rank is one of its most fundamental characteristics. The rank is commonly denoted by or ; sometimes the parentheses are not written, as in .Alternative notation includes \rho (\Phi) from and . Main definitions In this section, we give some definitions of the rank of a matrix. Many definitions are possible; see Alternative definitions for several of these. The column rank of is the dimension of the column space of , while the row rank of is the dimension of the row space of . A fundamental result in ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Observability
Observability is a measure of how well internal states of a system can be inferred from knowledge of its external outputs. In control theory, the observability and controllability of a linear system are mathematical duals. The concept of observability was introduced by the Hungarian-American engineer Rudolf E. Kálmán for linear dynamic systems. A dynamical system designed to estimate the state of a system from measurements of the outputs is called a state observer or simply an observer for that system. Definition Consider a physical system modeled in state-space representation. A system is said to be observable if, for every possible evolution of state and control vectors, the current state can be estimated using only the information from outputs (physically, this generally corresponds to information obtained by sensors). In other words, one can determine the behavior of the entire system from the system's outputs. On the other hand, if the system is not observable, there ar ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Lie Bracket Of Vector Fields
In the mathematical field of differential topology, the Lie bracket of vector fields, also known as the Jacobi–Lie bracket or the commutator of vector fields, is an operator that assigns to any two vector fields ''X'' and ''Y'' on a smooth manifold ''M'' a third vector field denoted . Conceptually, the Lie bracket is the derivative of ''Y'' along the flow generated by ''X'', and is sometimes denoted ''\mathcal_X Y'' ("Lie derivative of Y along X"). This generalizes to the Lie derivative of any tensor field along the flow generated by ''X''. The Lie bracket is an R- bilinear operation and turns the set of all smooth vector fields on the manifold ''M'' into an (infinite-dimensional) Lie algebra. The Lie bracket plays an important role in differential geometry and differential topology, for instance in the Frobenius integrability theorem, and is also fundamental in the geometric theory of nonlinear control systems., nonholonomic systems; , feedback linearization. Definitio ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Rank (linear Algebra)
In linear algebra, the rank of a matrix is the dimension of the vector space generated (or spanned) by its columns. p. 48, § 1.16 This corresponds to the maximal number of linearly independent columns of . This, in turn, is identical to the dimension of the vector space spanned by its rows. Rank is thus a measure of the " nondegenerateness" of the system of linear equations and linear transformation encoded by . There are multiple equivalent definitions of rank. A matrix's rank is one of its most fundamental characteristics. The rank is commonly denoted by or ; sometimes the parentheses are not written, as in .Alternative notation includes \rho (\Phi) from and . Main definitions In this section, we give some definitions of the rank of a matrix. Many definitions are possible; see Alternative definitions for several of these. The column rank of is the dimension of the column space of , while the row rank of is the dimension of the row space of . A fundamental result in ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Linearly Independent
In the theory of vector spaces, a set of vectors is said to be if there is a nontrivial linear combination of the vectors that equals the zero vector. If no such linear combination exists, then the vectors are said to be . These concepts are central to the definition of dimension. A vector space can be of finite dimension or infinite dimension depending on the maximum number of linearly independent vectors. The definition of linear dependence and the ability to determine whether a subset of vectors in a vector space is linearly dependent are central to determining the dimension of a vector space. Definition A sequence of vectors \mathbf_1, \mathbf_2, \dots, \mathbf_k from a vector space is said to be ''linearly dependent'', if there exist scalars a_1, a_2, \dots, a_k, not all zero, such that :a_1\mathbf_1 + a_2\mathbf_2 + \cdots + a_k\mathbf_k = \mathbf, where \mathbf denotes the zero vector. This implies that at least one of the scalars is nonzero, say a_1\ne 0, and ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Line (geometry)
In geometry, a line is an infinitely long object with no width, depth, or curvature. Thus, lines are one-dimensional objects, though they may exist in two, three, or higher dimension spaces. The word ''line'' may also refer to a line segment in everyday life, which has two points to denote its ends. Lines can be referred by two points that lay on it (e.g., \overleftrightarrow) or by a single letter (e.g., \ell). Euclid described a line as "breadthless length" which "lies evenly with respect to the points on itself"; he introduced several postulates as basic unprovable properties from which he constructed all of geometry, which is now called Euclidean geometry to avoid confusion with other geometries which have been introduced since the end of the 19th century (such as non-Euclidean, projective and affine geometry). In modern mathematics, given the multitude of geometries, the concept of a line is closely tied to the way the geometry is described. For instance, in analytic ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Car Analogy
The car analogy is a common technique, used predominantly in engineering textbooks to ease the understanding of abstract concepts in which a car, its composite parts, and common circumstances surrounding it are used as analogs for elements of the conceptual systems. The car analogy can be seen elsewhere, in textbooks covering other subjects and at various educational levels, such as explaining regulation of human temperature. Uses of car analogies The efficiency of car analogies reside on their capacity to explain difficult concepts (usually due to their high abstraction level) on more mundane terms with which the target audience is comfortable, and with which many also have a special interest. Due to that, car analogies appear more often on works related to applied sciences and technology. In order to work, car analogies translate agents of action as the car driver, the seller, or police officers; likewise, elements of a system are referred as car pieces, such as wheels, mot ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Orientation (rigid Body)
In geometry, the orientation, angular position, attitude, bearing, or direction of an object such as a line, plane or rigid body is part of the description of how it is placed in the space it occupies. More specifically, it refers to the imaginary rotation that is needed to move the object from a reference placement to its current placement. A rotation may not be enough to reach the current placement. It may be necessary to add an imaginary translation, called the object's location (or position, or linear position). The location and orientation together fully describe how the object is placed in space. The above-mentioned imaginary rotation and translation may be thought to occur in any order, as the orientation of an object does not change when it translates, and its location does not change when it rotates. Euler's rotation theorem shows that in three dimensions any orientation can be reached with a single rotation around a fixed axis. This gives one common way of representi ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Pitch (flight)
An aircraft in flight is free to rotate in three dimensions: '' yaw'', nose left or right about an axis running up and down; ''pitch'', nose up or down about an axis running from wing to wing; and ''roll'', rotation about an axis running from nose to tail. The axes are alternatively designated as ''vertical'', ''lateral'' (or ''transverse''), and ''longitudinal'' respectively. These axes move with the vehicle and rotate relative to the Earth along with the craft. These definitions were analogously applied to spacecraft when the first manned spacecraft were designed in the late 1950s. These rotations are produced by torques (or moments) about the principal axes. On an aircraft, these are intentionally produced by means of moving control surfaces, which vary the distribution of the net aerodynamic force about the vehicle's center of gravity. Elevators (moving flaps on the horizontal tail) produce pitch, a rudder on the vertical tail produces yaw, and ailerons (flaps on the wing ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
