Chapter 6 11 Other conditions of controllability Theorem:If a system can be transformed to the following Jordan matrix form using similarity transformation.It is controllable if each row in matrix B corresponding to the last rows of each Jordan block is not all zero row. x+Bu J= Other conditions of controllability 11 Theorem: If a system can be transformed to the following Jordan matrix form using similarity transformation. It is controllable if each row in matrix corresponding to the last rows of each Jordan block is not all zero row. B Chapter 6 x Bu J J J x               0 k 0 2 1                i i i i λ λ λ 0 1 1 0   J