Controllability, stability and design for high-order fully actuated systems: Special cases studies

The high-order fully actuated (HOFA) model of a general dynamic control system makes it easy to design controllers, where HOFA model can make the closed- loop system become a constant linear system by a fully configurable characteristic structure. Based on this special property, the controllability of the general dynamic control system is discussed in the HOFA model. Then, the HOFA model under special cases: the low-order dynamic cases, are studied, which can generally be represented by a controllable subsystem and an additional uncontrollable subsystem or complementary subsystem. The general dynamic control system, if there is no uncontrollable subsystem, or it is stable in some sense, it is said to be stable. Finally, a typical tank system is take as an example to present that how to design the control low based on HOFA method. Simulations are carried out to illustrate the effectiveness of the control low design.