Characterizing Controllability and Observability for Systems with Locality, Communication, and Actuation Constraints
arxiv(2024)
摘要
This paper presents a closed-form notion of controllability and observability
for systems with communication delays, actuation delays, and locality
constraints. The formulation reduces to classical notions of controllability
and observability in the unconstrained setting. As a consequence of our
formulation, we show that the addition of locality and communication
constraints may not affect the controllability and observability of the system,
and we provide an efficient sufficient condition under which this phenomenon
occurs. This contrasts with actuation and sensing delays, which cause a gradual
loss of controllability and observability as the delays increase. We illustrate
our results using linearized swing equations for the power grid, showing how
actuation delay and locality constraints affect controllability.
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