JuliaControl/ControlSystems.jl

Algorithm for Controllability canonical form

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#172 opened on Dec 30, 2018

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enhancementhelp wanted

Description

Is there an Algorithm to compute the Controllability canonical form of a system for multi-input systems, or any other method to determine the controllable and uncontrollable poles of such a system? Because I didn't see anything.

However I found a paper which describes such an Algorithm: https://www.sciencedirect.com/science/article/pii/0898122184900592

Maybe somebody feels motivated to implement it. Maybe I have some time to implement this later, but I can't promise.

Contributor guide

Tech stack
None
Domain
backend
Issue type
feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
3-5 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
stale
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
mostly clear
Prerequisites
control theorylinear algebraJulia programming
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
30
Research direction
The issue requests an algorithm for controllability canonical form for multi input systems. A paper is referenced (https://www.sciencedirect.com/science/article/pii/0898122184900592) that describes the algorithm. The contributor should first understand the existing controllability functions in the ControlSystems.jl repository, such as 'controllability matrix' and 'ctrb'. Based on the paper, implement the canonical form, ensuring compatibility with the existing state space representation. Testing should include single input and multi input examples.