Número Mínimo de Controles Necesarios para la Controlabilidad Completa de Sistemas Lineales Estacionarios (Minimum Number of Controls for Full Controllability of Linear Time-Invariant Systems)

Jonathan Omega Escobedo (aerojonathan@yahoo.com.mx)1, Valeriy Nosov (vnossov@ipn.mx)1, Jesus Alberto Meda (jmedac@ipn.mx)1


1Instituto Politecnico Nacional

This paper appears in: Revista IEEE América Latina

Publication Date: Nov. 2016
Volume: 14,   Issue: 11 
ISSN: 1548-0992


Abstract:
For linear stationary system a new controllability analysis technique is introduced. This concept is closely related to determination of minimum number of independent controls necessary for complete controllability. This process consist in transforming the original system into Frobenius normal form. We show that there are no fewer controls that achieve full controllability of the system. Furthermore, the Frobenius normal form is presented as a mathematical advantage in the design of control matrices for underactuated systems.

Index Terms:
Controllability,linear control systems,Jordan normal form,Frobenius normal form,fault tolerance,underactuated control systems   


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