General Studies · Mechatronics and Control Systems
In a robotic manipulator control system, the joint angle and velocity are measured using sensors, but the actuator torque is not directly measurable. The state-space model of the system is known, and an observer is designed to estimate the unmeasured states. Which of the following statements correctly describes the observability condition for the system?
Verified Solution4 OptionsUpdated: October 2026👁️1 View
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- 1The system is observable only if all outputs are directly measurable.
- 2The system becomes observable only when feedback control is applied.
- 3Observability depends solely on the controllability matrix and not on the output matrix C.
- 4The system is observable if the observability matrix [C CA CA2 ... CAn-1] has full rank equal to the system order n.✓
Correct answer
The system is observable if the observability matrix [C CA CA2 ... CAn-1] has full rank equal to the system order n.
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