Controllability and observability of impulsive hybrid dynamic systems
A hybrid dynamic system (HDS) is a collection of continuous variable dynamic systems (CVDS) along with some map for switching between them. The following impulsive HDS is considered: \[ \begin{aligned}\dot x(\tau) &= \left[\begin{matrix} \dot x_1(\tau)\\ \dot x_2(\tau)\end{matrix}\right]= \left[\begin{matrix} 1 & 0^T\\ 0 & A(m(\tau))\end{matrix}\right]x(\tau)+ \left[\begin{matrix} 0^T\\ B(m(\tau))\end{matrix}\right]u(\tau)+ \left[\begin{matrix} 1\\ 0\end{matrix}\right]\\ \dot y(\tau) & = [0,C(m(\tau))] x(\tau),\end{aligned} \] where \(x_1(\tau)\in R^1\), \(x_2(\tau)\in R^r\), \(u(\tau)\in R^s\), and \(y(\tau)\in R^s\). Here \(x\), \(u\) and \(y\) are respectively the state, the input, and output vectors; \(m(\tau)\in \{1,\dots, n\}\), \(A(m(\tau))\in R^{r\times r}\), \(B(m(\tau))\in R^{r\times s}\), and \(C(m(\tau))\in R^{s\times r}\). When the trajectory of the system meets the hypersurface \(S_i= \{x(\tau):x_1(\tau)= \delta\tau_i\}\), where \(\delta\tau_i\) is a constant corresponding to the CVDS of the form \(i\), some impulsive switching will happen: \[ x(\tau^+_i)= \mu_i(x(\tau^-_i))= \left[\begin{matrix} 0 & 0^T\\ 0 & D_i\end{matrix}\right] x(\tau^-_i),\quad m(\tau^+_i)= \varphi_i(m(\tau^-_i)), \] where \[ \mu_i: R^{r+ 1}\to R^{r+1},\quad \varphi_i:\{1,\dots, n\}\to \{1,\dots, n\},\quad D_i\in R^{r\times r}. \] The paper derives necessary and sufficient conditions for the system to be controllable and observable.
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