Chapter 7 6 7.2 Controllability of Feedback system Linear system: 文=Ax+BM y=Cx State feedback Feedback system=(A-BKx+Br y=Cx Theorem:The system(A-BK,B)is controllable IFF system (A,B)is controllable. Note:The observability may be changed.7.2 Controllability of Feedback system • Theorem: The system (A-BK, B) is controllable IFF system (A,B) is controllable. • Note: The observability may be changed. 6 Linear system:       y Cx x Ax Bu State feedback         n i n ki xi u r Kx r- k k x r 1 1         y Cx Feedback system x (A BK)x Br Chapter 7