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Controlabilidad.
𝑃𝐶 = [𝐵 𝐴𝐵 𝐴2 𝐵 𝐴3 𝐵]
AB.
2 8 0 0 1 10
0 3 6 0 1 3
[ ]∙[ ]=[ ]
0 0 4 0 0 0
0 0 0 −5 0 0
𝐴2 𝐵.
2 8 0 0 2 1 4 40 48 0 1 44
0 3 6 0 1 0 9 42 0 1 9
[ ] ∙[ ]=[ ]∙[ ]=[ ]
0 0 4 0 0 0 0 16 0 0 0
0 0 0 −5 0 0 0 0 25 0 0
𝐴3 𝐵.
2 8 0 0 3 1 8 152 432 0 1 160
0 3 6 0 1 0 27 222 0 1 27
[ ] ∙[ ]=[ ]∙[ ]=[ ]
0 0 4 0 0 0 0 64 0 0 0
0 0 0 −5 0 0 0 0 −125 0 0
1 10 44 160 1 10 44
1 3 9 27 1 3 9
∆𝑃𝐶 =
0 0 0 0 0 0 0
0 0 0 0 0 0 0
∆𝑃𝐶 = (0 + 0 + 0 + 0) − (0 + 0 + 0 + 0) → ∆𝑃𝐶 = 0
Observabilidad.
Similar al caso anterior, se buscará primero la matriz de observabilidad del sistema dada
por la expresión a continuación.
𝐶
𝐶𝐴
𝑃𝑂 = [ 2 ]
𝐶𝐴
𝐶𝐴3
CA.
2 8 0 0
0 3 6 0
[0 1 1 0] ∙ [ ] = [0 1 10 0]
0 0 4 0
0 0 0 −5
𝐶𝐴2
2 8 0 0 2 4 40 48 0
[0 1 0 3 6 0 0 9 42 0
1 0] ∙ [ ] = [0 1 1 0] ∙ [ ] = [0 9 58 0]
0 0 4 0 0 0 16 0
0 0 0 −5 0 0 0 25
𝐶𝐴3
2 8 0 0 3 8 152 432 0
0 3 6 0 0 27 222 0
[0 1 1 0] ∙ [ ] = [0 1 1 0] ∙ [ ]
0 0 4 0 0 0 64 0
0 0 0 −5 0 0 0 −125
𝐶𝐴3 = [0 27 286 0]
0 1 1 0
0 1 10 0
𝑃𝑂 = [ ]
0 9 58 0
0 27 286 0
0 1 1 0 0 1 1
0 1 10 0 0 1 10
∆𝑃𝑂 =
0 9 58 0 0 9 58
0 27 286 0 0 27 286
∆𝑃𝑂 = (0 + 0 + 0 + 0) − (0 + 0 + 0 + 0) → ∆𝑃𝑂 = 0