Chapter 6 3 6.1 controllability 。Definition: The state equation=x+Bu or the pair (A,B)is said to be controllable if for any initial state x(O)=xo and any final state x1,there exists an input that transfer xo to x1 in a finite time.Otherwise is said to be uncontrollable Theory 6.1 controllability • Definition: • The state equation or the pair (A,B) is said to be controllable if for any initial state x(0)=x0 and any final state x1 , there exists an input that transfer x0 to x1 in a finite time. Otherwise is said to be uncontrollable. 3 x   Ax  Bu Chapter 6