Controllability for discrete systems with a finite control set
Linear, finite-dimensional discrete-time control systems with constant coefficients are considered. It is generally assumed that the set of values of controls contains a finite number of elements. Using algebraic methods, several conditions for controllability and reachability are formulated and proved. Special attention is paid to the one-dimensional case. Moreover, the role of initial conditions in controllability and reachability problems is explained. The relationships between system eigenvalues and controllability with constrained controls are also discussed and analyzed. Moreover, the paper contains many remarks and comments on controllability and reachability results for discrete-time systems with constrained controls. Finally, it should be pointed out that similar controllability problems have been considered in the monongraph [\textit{J. Klamka}, Controllability of Dynamical Systems, Kluwer, Dordrecht (1991; Zbl 0732.93008)] and in the paper [\textit{Y. Chitour}, \textit{A. Marigo, D. Prattichizzo} and \textit{A. Bicchi}, ``Rolling polyhedra on the plane: Analysis of the reachable set. Workshop on Algorithmic Foundation of Robotics, Toulouse, France (1996)].
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