Abstract
A new approach to the study of controllability and observabihty by means of analysis of the controhabihty and observabihty matrices and gramians was proposed. It rehes on the lemma of expansion of the matrix integrals proved by expanding the resolvents of the matrices A m and A and the properties of convolution of the matrix function in the complex domain. Analysis of the structural properties of gramians demonstrated that the coefficients of the characteristic equations and the Faddeev matrices in the decomposition of the resolvent of the system dynamics matrix play the leading part in their formation. An example illustrating the properties of gramians was given.
Similar content being viewed by others
References
Kalman, R.E. and Bucy, R.S., New Results in Linear Filtering And Prediction Theory, J. Basic Eng. Trans. ASME, Ser. D, 1961, vol. 83, pp. 95–108.
Kalman, R.E., Mathematical Description of Linear Systems, SIAM J. Control, 1963, vol. 1, pp. 152–192.
Luenberger, D.G., Observing the State of Linear System, IEEE Trans. Mil. Electron., 1964, MIL-8, pp. 74–80.
Korovin, S.K. and Fomichev, V.V., Nablyudateli sostoyaniya dlya lineinykh sistem s neopredelennost’yu (State Observers for Linear Systems with Uncertainty), Moscow: Fizmatlit, 2007.
Spravochnik po teorii avtomaticheskogo upravleniya (Handbook of the Theory of Automatic Control), Krasovskii, A.A., Ed., Moscow: Nauka, 1987.
The Control Handbook, Levine, W.S., Ed., Boca Raton: CRC Press, 1996, pp. 461–469.
Kailath, T., Linear Systems, New York: Prentice Hall, 1980.
Andreev, Yu.N., Upravlenie konechnomernymi lineinymi obektami (Control of Finite-dimensional Linear Plants), Moscow: Nauka, 1976.
Afanas’ev, V.N., Kolmanovskii, V.B., and Nosov, V.R., Matematicheskaya teoriya konstruirovaniya sistem upravleniya (Mathematical Theory of Control System Design), Moscow: Vysshaya Shkola, 1989.
Kwakernaak, H. and Sivan, R., Linear Optimal Control Systems, New York: Wiley, 1972. Translated under the title Lineinye optimal’nye sistemy upravleniya, Moscow: Mir, 1977.
Zemlyakov, S.D. and Rutkovskii, V.Yu., Functional Controllability and Tunability of Coordinate-Parametric Control Systems, Autom. Remote Control, 1986, no. 2, part 1, pp. 169–176.
Emel’yanov, S.V., Binarnye sistemy avtomaticheskogo upravleniya (Binary Systems of Automatic Control), Moscow: Mir, 1987.
Fomin, V.N., Fradkov, A.L., and Yakubovich, V.A., Adaptivnoe upravlenie dinamicheskimi obektami (Adaptive System of Dynamic Plants), Moscow: Nauka, 1981.
Faddeev, D.K. and Faddeeva, V.N., Vychislitel’nye metody lineinoi algebry (Computational Methods of Linear Algebra), Moscow: Fizmatgiz, 1963.
Hanzon, B. and Peeters, R.L.M., A Faddeev Sequence Method for Solving Lyapunov and Sylvester Equations, Linear Algebra Appl, 1996, vol. 241–243, pp. 401–430.
Polyak, B.T. and Shcherbakov, P.S., Robastnaya ustoichivost’ i upravlenie (Robust Stability and Control), Moscow: Nauka, 2002.
Poznyak, A.S., Osnovy robastnogo upravleniya (H∞-Teoriya) (Fundamentals of Robust Control (H∞-theory)), Moscow: MFTI, 1991.
Balandin, D.V. and Kogan, M.M., Sintez zakonov upravleniya na osnove lineinykh matrichnykh ner-avenstv (Design of the Control Laws Based on Linear Matrix Inequalities), Moscow: Fizmatlit, 2007.
Yadykin, LB., H2-Optimal Tuning Algorithms for Fixed Structure Controllers, Autom. Remote Control, 2008, no. 8, pp. 1319–1332.
Yadykin, LB., On Adaptability Gramians, in Proc. Int. Conf. “Math. System Theory” MTS-2009, Moscow, Moscow: Inst. Sist. Anal., Ross. Akad. Nauk, 2009, pp. 127–141.
Author information
Authors and Affiliations
Additional information
Original Russian Text © LB. Yadykin, 2010, published in Avtomatika i Telemekhanika, 2010, No. 6, pp. 39–50.
Rights and permissions
About this article
Cite this article
Yadykin, I.B. On properties of gramians of continuous control systems. Autom Remote Control 71, 1011–1021 (2010). https://doi.org/10.1134/S0005117910060032
Received:
Published:
Issue Date:
DOI: https://doi.org/10.1134/S0005117910060032