Abstract
The study of the structural properties of MIMO systems was previously done using a graph approach. This paper presents a new method using bond-graph methodology to derive information on structural controllability/observability properties of a system. The notion of structural rank is defined, and causal manipulations of the bond-graph model carried out in order to determine graphically the non-controllable or non-observable state subspaces. A procedure is described which allows one to find the minimum number of actuators and sensors necessary for control and observation, and to optimize their positions in the system in order to simplify state feedback control laws.
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