A Caltech Library Service

Controllability with unilateral control inputs

Goodwine, Bill and Burdick, Joel (1996) Controllability with unilateral control inputs. In: Proceedings of 35th IEEE Conference on Decision and Control. Vol.3. IEEE , Piscataway, NJ, pp. 3394-3399. ISBN 0-7803-3590-2.

[img] PDF - Published Version
See Usage Policy.


Use this Persistent URL to link to this item:


Many control systems contain control inputs which are constrained to be nonnegative. Unfortunately, the unilateral nature of such inputs makes them similar to a drift term, and correspondingly complicates any attempt to determine controllability. We present a controllability test in which Lie brackets are characterized as "good" or "bad," from which controllability follows from the relationship, between these "good" and "bad" brackets, This test is relatively straightforward to apply and its application is illustrated with an example.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Additional Information:© 1996 IEEE. The authors would like to thank Andrew Lewis for helpful discussions regarding the technical aspects of the proof presented in Appendix 4. This work was partially supported by a grant from the Office of Naval Research.
Funding AgencyGrant Number
Office of Naval Research (ONR)UNSPECIFIED
Record Number:CaltechAUTHORS:20190612-151720962
Persistent URL:
Official Citation:B. Goodwine and J. Burdick, "Controllability with unilateral control inputs," Proceedings of 35th IEEE Conference on Decision and Control, Kobe, Japan, 1996, pp. 3394-3399 vol.3. doi: 10.1109/CDC.1996.573682
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96347
Deposited By: Tony Diaz
Deposited On:13 Jun 2019 16:31
Last Modified:16 Nov 2021 17:20

Repository Staff Only: item control page