High-order System Approaches: II. Controllability and Full-actuation

被引：0
|
作者：
Duan G.-R. [1 ]
机构：
[1] Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2020年 / 46卷 / 08期
基金：
中国国家自然科学基金;
关键词：
Complete-controllability; Controllability; Controllability canonical forms; Fully-actuated systems; High-order systems;
D O I：
10.16383/j.aas.c200369
中图分类号：
学科分类号：
摘要：
In this paper, development in controllability of dynamical systems described by first-order state-space models is firstly overviewed briefly, and problems with the controllability theory originally introduced by Kalman are pointed out. It is then proven that a necessary and sufficient condition for a constant linear system to be controllable is that it can be equivalently expressed as a high-order fully-actuated system, and this result is also generalized, in a sense, to the case of nonlinear systems. Based on this discovery, complete-controllability of general dynamical systems is defined. Together with some other important properties, significance of super-controllability is clearly revealed as such that the system can be turned, by a feedback controller, into a high-order constant linear system with the coefficient matrices of the closed-loop eigen-polynomial being arbitrarily assignable. Copyright © 2020 Acta Automatica Sinica. All rights reserved.
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页码：1571 / 1581
页数：10
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