ENERGY OPTIMAL DEGREE OF CONTROLLABILITY AND OBSERVABILITY FOR REGULATOR AND MANEUVER PROBLEMS.

Motivated by the problem of shape control of large flexible spacecraft, the authors have developed, in previous works, concepts of the degree of controllability for purposes of guiding the control system designer in choosing actuator locations. Such concepts are found to depend on the control objective such as regulation, or tracking during a maneuver. The basic stages in the generation of concepts of the degree of controllability and of the degree of observability are identified and definitions for each are generated based on energy optimality. An algorithm is developed to determine these quantities for regulator problems, for maneuvering to get to a new state, as well as for accurate tracking during a maneuver. The results can serve as a guide for both sensor and actuator location.

ENERGY OPTIMAL DEGREE OF CONTROLLABILITY AND OBSERVABILITY FOR REGULATOR AND MANEUVER PROBLEMS. Conference Paper