Controllability and observability

2020 ◽  
pp. 3-20
Author(s):  
Jerzy Zabczyk
Keyword(s):  
Controllability And Observability

Recursive controllability and observability tests for large dynamic systems

2006 ◽  
Vol 67 (5) ◽  
pp. 783-795 ◽  
Author(s):  
E. Yu. Zybin ◽  
M. Sh. Misrikhanov ◽  
V. N. Ryabchenko
Keyword(s):  
Dynamic Systems ◽  
Controllability And Observability

The robust minimal controllability and observability problem

2021 ◽  
Author(s):  
Guilherme Ramos ◽  
Daniel Silvestre ◽  
Carlos Silvestre
Keyword(s):  
Controllability And Observability

scholarly journals Transformed Structural Properties Method to Determine the Controllability and Observability of Robots

2021 ◽  
Vol 11 (7) ◽  
pp. 3082
Author(s):  
Dany Ivan Martinez ◽  
José de Jesús Rubio ◽  
Victor Garcia ◽  
Tomas Miguel Vargas ◽  
Marco Antonio Islas ◽  
...  
Keyword(s):  
Structural Properties ◽  
Approximation Error ◽  
Linearization Method ◽  
Controllability And Observability ◽  
Better Than

Many investigations use a linearization method, and others use a structural properties method to determine the controllability and observability of robots. In this study, we propose a transformed structural properties method to determine the controllability and observability of robots, which is the combination of the linearization and the structural properties methods. The proposed method uses a transformation in the robot model to obtain a linear robot model with the gravity terms and uses the linearization of the gravity terms to obtain the linear robot model; this linear robot model is used to determine controllability and observability. The described combination evades the structural conditions requirement and decreases the approximation error. The proposed method is better than previous methods because the proposed method can obtain more precise controllability and observability results. The modified structural properties method is compared with the linearization method to determine the controllability and observability of three robots.

Nonlinear controllability and observability

1977 ◽  
Vol 22 (5) ◽  
pp. 728-740 ◽  
Author(s):  
R. Hermann ◽  
A. Krener
Keyword(s):  
Nonlinear Controllability ◽  
Controllability And Observability
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