This paper provides the extension of the observability rank condition and the extension of the controllability rank condition to time-varying nonlinear systems. Previous conditions to check the state observability and controllability, only account for nonlinear systems that do not explicitly depend on time, or, for time-varying systems, they only account for the linear case. In this paper, the general analytic conditions are provided. The paper shows that both these two new conditions (the extended observability rank condition and the extended controllability rank condition) reduce to the well known rank conditions for observability and controllability in the two simpler cases of time-varying linear systems and time-invariant nonlinear systems. The proposed new conditions work automatically and can deal with any system, independently of its complexity (state dimension, type of nonlinearity, etc). Simple examples illustrate both these conditions. In addition, the two new conditions are used to study the observability and the controllability properties of a lunar module. For this system, the dynamics exhibit an explicit time-dependence due to the variation of the weight and the variation of the moment of inertia. These variations are a consequence of the fuel consumption. To study the observability and the controllability properties of this system, the extended observability rank condition and the extended controllability rank condition introduced by this paper are required. The paper shows that, even under the constraint that the main rocket engine delivers constant power, the state is weakly locally controllable. Additionally, it is weakly locally observable up to the yaw angle.
In this paper, the controllability and observability of linear multi-agent systems over matrix-weighted signed networks are analyzed. Firstly, the definition of equitable partition of matrix-weighted signed multi-agent system is given, and the upper bound of controllable subspace and a necessary condition of controllability are obtained by combining the restriction conditions of the coefficient matrix and matrix weight for the case of fixed and switching topologies, respectively.The influence of different selection methods of coefficient matrices on the results is discussed. Secondly, for the …
The controllability and observability of Boolean control network(BCN) are two fundamental properties. But the verification of latter is much harder than the former. This paper considers the observability of BCN via controllability. First, the set controllability is proposed, and the necessary and sufficient condition is obtained. Then a technique is developed to convert the observability into an equivalent set controllability problem. Using the result for set controllability, the necessary and sufficient condition is also obtained for the observability of BCN.
Given a linear control system in a Hilbert space with a bounded control operator, we establish a characterization of exponential stabilizability in terms of an observability inequality. Such dual characterizations are well known for exact (null) controllability. Our approach exploits classical Fenchel duality arguments and, in turn, leads to characterizations in terms of observability inequalities of approximately null controllability and of $α$-null controllability. We comment on the relationships between those various concepts, at the light of the observability inequalities that characterize…
This paper is concerned with the notions of admissibility, exact controllability, exact observability and regularity of linear systems in the Banach space setting. It is proved that admissible controllability, exact controllability, admissible observation, exact observability and regularity are invariant under some regular perturbations of the generators, such results are generalizations of some previous references. Moreover, the related boundary linear systems and some illustrative examples are presented.
In this paper, we establish some important results for the impulsive wave equation. We begin by proving the existence of a solution. Then, we study the impulse approximate controllability where the control function acts on a subdomain $ω$ and at one instant of time $τ\in (0, T)$. Afterward, we study impulse observability
The problem of exact observability is analyzed for a wide class of neutral type systems by an infinite dimensional approach. The duality with the exact controllabil-ity problem is the main tool. It is based on an explicit expression of a neutral type system which corresponding to the abstract adjoint system. A nontrivial relation is obtained between the initial neutral system and the system obtained via the adjoint abstract state operator. The characterization of the duality between controllability and observability is deduced, and then observability conditions are obtained.
For abstract linear systems in Hilbert spaces we revisit the problems of exact controllability and complete stabilizability (stabilizability with an arbitrary decay rate), the latter property is equivalent to exact null controllability. We extend this result to the case when the feedback is not bounded. This enables the characterization of exact null controllability and complete stabilizability for neutral type systems. By duality, we obtain a result about continuous final observability.Illustrative examples are given.
Poset-causal systems form a class of decentralized systems introduced by Shah and Parrilo [32] and studied mainly in the context of optimal decentralized control. In this paper we develop part of the realization theory for poset-causal systems. More specifically, we investigate several notions of controllability and observability, and their relation under duality. These new notions extend concepts of controllability and observability in the context of coordinated linear systems [16]. While for coordinated linear systems there is a clear hierarchical structure with a single (main) coordinator, …
We consider the observability problem for non-autonomous evolution systems (i.e., the operators governing the system depend on time). We introduce an averaged Hautus condition and prove that for skew-adjoint operators it characterizes exact observability. Next, we extend this to more general class of operators under a growth condition on the associated evolution family. We give an application to the Schrödinger equation with time dependent potential and the damped wave equation with a time dependent damping coefficient.
In the present paper we consider controllability and observability of second order linear time invariant systems in matrix form. Without reducing into first order systems we show how the classical conditions for first order linear systems can be generalized to this case. In term of Kalman type criterions these concepts are investigated for second order discrete and continuous time linear systems. It should be pointed out that by repeated differentiation of state and output vector-functions we derive two different systems of linear algebraic equations. Then the initial values x_0, x_1 and input…
An application of a conjecture due to Ervedoza and Zuazua concerning the observability of the heat equation in small time to a conjecture due to Coron and Guerrero concerning the uniform controllability of a convection-diffusion equation
We study (approximate) null-controllability of parabolic equations in $L_p(\mathbb{R}^d)$ and provide explicit bounds on the control cost. In particular we consider systems of the form $\dot{x}(t) = -A_p x(t) + \mathbf{1}_E u(t)$, $x(0) = x_0\in L_p (\mathbb{R}^d)$, with interior control on a so-called thick set $E \subset \mathbb{R}^d$, where $p\in [1,\infty)$, and where $A$ is an elliptic operator of order $m \in \mathbb{N}$ in $L_p(\mathbb{R}^d)$. We prove null-controllability of this system via duality and a sufficient condition for observability. This condition is given by an uncertainty …
We provide algorithmically verifiable necessary and sufficient conditions for fundamental system theoretic properties of discrete time linear systems subject to data losses. More precisely, the systems in our modeling framework are subject to disruptions (data losses) in the feedback loop, where the set of possible data loss sequences is captured by an automaton. As such, the results are applicable in the context of shared (wireless) communication networks and/or embedded architectures where some information on the data loss behaviour is available a priori. We propose an algorithm for deciding…
In this paper, we study the observability and controllability of wave equations coupled by first or zero order terms on a compact manifold. We adopt the approach in Dehman-Lebeau's paper \cite{DehmanLebeau09} to prove that: the weak observability inequality holds for wave equations coupled by first order terms on compact manifold without boundary if and only if a class of ordinary differential equations related to the symbol of the first order terms along the Hamiltonian flow are exactly controllable. We also compute the higher order part of the observability constant and the observation time.…
This work is concerned with the distributed controllability of the one-dimensional wave equation over non-cylindrical domains. The controllability in that case has been obtained in [Castro-Cindea-Munch, Controllability of the linear one-dimensional wave equation with inner moving forces, SIAM J. Control Optim 2014] for domains satisfying the usual geometric optics condition. In the present work, we first show that the corresponding observability property holds true uniformly in a precise class of non-cylindrical domains. Within this class, we then consider, for a given initial datum, the probl…
This paper is concerned with the development and use of duality theory for a hidden Markov model (HMM) with white noise observations. The main contribution of this work is to introduce a backward stochastic differential equation (BSDE) as a dual control system. A key outcome is that stochastic observability (resp. detectability) of the HMM is expressed in dual terms: as controllability (resp. stabilizability) of the dual control system. All aspects of controllability, namely, definition of controllable space and controllability gramian, along with their properties and explicit formulae, are di…
We discuss the observability of a one-dimensional Schrödinger equation on certain time dependent domain. In linear moving case, we give the exact boundary and pointwise internal observability for arbitrary time. For the general moving, we provide exact boundary observability when the curve satisfies some certain conditions . By duality theory, we establish the controllability of adjoint system.
In this paper, given a linear time-invariant strongly connected network, we study the problem of determining the minimum number of state variables that need to be simultaneously actuated and measured to ensure structural controllability and observability, respectively. This problem is fundamental in the design of multi-agent systems, where there are economic constraints in the decision of which agents to equip with a more costly on-board system that will allow the agent to have both actuation and sensing capabilities. Despite the combinatorial nature of this problem, we present a solution that…
In this paper, we study some controllability and observability problems for stochastic systems coupling fourth- and second-order parabolic equations. The main goal is to control both equations with only one controller localized on the drift of the fourth-order equation. We analyze two cases: on one hand, we study the controllability of a linear backward system where the couplings are made only through first-order terms. The key point is to use suitable Carleman estimates for the heat equation and the fourth-order operator with the same weight to deduce an observability inequality for the adjoi…
In this paper we will generalize the Kalman rank condition for the null controllability to $n$-coupled linear degenerate parabolic systems with constant coefficients, diagonalizable diffusion matrix, and $m$-controls. For that we prove a global Carleman estimate of the solution of a scalar $2n$-order equation then we infer from it an observability inequality for the corresponding adjoint system, and thus the null controllability.
In this paper, we present several observability and unique continuation inequalities for the free Schrödinger equation in the whole space. The observations in these inequalities are made either at two points in time or one point in time. These inequalities correspond to different kinds of controllability for the free Schrödinger equation. We also find that the observability inequality at two points in time is equivalent to the uncertainty principle built up in [18].
We consider two dimensional Grushin Schrödinger equation posed on a finite cylinder $Ω=(-1,1)_x\times \T_y$ with Dirichlet boundary condition. We obtain the sharp observability by any horizontal strip, with the optimal time $T_*>0$ depending on the size of the strip. Consequently, we prove the exact controllability for Grushin Schrödinger equation. By exploiting the concentration of eigenfunctions of harmonic oscillator at $x=0$, we also show that the observability fails for any $T\leq T_*$.
We consider a fully-discrete approximations of 1-D heat equation with dynamic boundary conditions for which we provide a controllability result. The proof of this result is based on a relaxed observability inequality for the corresponding adjoint system. This is done by using a suitable Carleman estimate for such models where the discrete parameters $h$ and $Δt$ are connected to the one of the large Carleman parameters.
We consider the semilinear heat equation posed on a smooth bounded domain $Ω$ of $\mathbb{R}^{N}$ with Dirichlet or Neumann boundary conditions. The control input is a source term localized in some arbitrary nonempty open subset $ω$ of $Ω$. The goal of this paper is to prove the uniform large time global null-controllability for semilinearities $f(s) = \pm |s| \log^α(2+|s|)$ where $α\in [3/2,2)$ which is the case left open by Enrique Fernandez-Cara and Enrique Zuazua in 2000. It is worth mentioning that the free solution (without control) can blow-up. First, we establish the small-time global …
The objective of this paper is to study detectability, observability and related Lyapunov-type theorems of linear discrete-time time-varying stochastic systems with multiplicative noise. Some new concepts such as uniform detectability, ${\cal K}^{\infty}$-exact detectability (resp. ${\cal K}^{WFT}$-exact detectability, ${\cal K}^{FT}$-exact detectability, ${\cal K}^{N}$-exact detectability) and ${\cal K}^{\infty}$-exact observability (resp. ${\cal K}^{WFT}$-exact observability, ${\cal K}^{FT}$-exact observability, ${\cal K}^{N}$-exact observability) are introduced, respectively, and nice prope…
