Actuator Placement Using Degree of Controllability for Discrete-Time Systems

[+] Author and Article Information
Xing Guangqian

Beijing Institute of Control Engineering, Beijing, Peoples’ Republic of China

Peter M. Bainum

Department of Mechanical Engineering, Howard University, Washington, D.C. 20059

J. Dyn. Sys., Meas., Control 114(3), 508-516 (Sep 01, 1992) (9 pages) doi:10.1115/1.2897376 History: Received December 15, 1989; Revised September 01, 1991; Online March 17, 2008


In this paper some definitions of degree of controllability (observability), which is based on the scalar measure of the controllability (observability) Grammian matrix, are presented for discrete-time systems. The emphasis here is in showing the physical and geometrical meanings of the degree of controllability (observability) and the general properties of degree of controllability (observability). The concepts of degree of controllability are applied to the actuator placement problem for the shallow spherical sheel control system. The LQG transient responses for several typical systems with different degrees of controllability are also shown.

Copyright © 1992 by The American Society of Mechanical Engineers
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