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- How do you find the controllable canonical form in Matlab?
- What is controllable canonical form?
- How to convert controllable canonical form to observable canonical form?
- How do I know if a system is controllable in Matlab?
How do you find the controllable canonical form in Matlab?
Obtaining Controllable Canonical Form
There is no MATLAB® command for directly computing controllable canonical form. However, if you can obtain the system in the transfer-function form H(s), then you can use the coefficients ɑ0,…,ɑn–1, β0,…,βn–1, and d0 to construct the controllable canonical-form matrices in MATLAB.
What is controllable canonical form?
y = [a0 a1 a2 ··· an−1]x . This form is called the controllable canonical form (for reasons that we will see later). Note how the coefficients of the transfer function show up in the matrix: each of the denominator coefficients shows up negated and in reverse order in the bottom row of A.
How to convert controllable canonical form to observable canonical form?
Notice that observable canonical form can be obtained from the controllable canonical form simply by transposing the A matrix and by transposing and swapping the b and c vectors.
How do I know if a system is controllable in Matlab?
Check System Controllability
Co = ctrb(A,B); Determine the number of uncontrollable states. The uncontrollable state indicates that Co does not have full rank 2. Therefore the system is not controllable.
