State Observability
摘要
The availability of measurements is a prerequisite for the control of a plant. In case the system behaviour can be described by an LTI model, the well-know Kalman criterion can be used to check for complete state observability. Another option is to check whether all eigenvalues of the observability Gramian matrix are positive. If an LTI system is not completely state observable, the criterion of Hautus can be used to find out which system modes are not observable. If all unobservable modes are stable and any unstable modes are all observable, the system is said to be detectable.