Controllabilities, observability and duality in linear systems with multiple norm-bounded controllers

The paper considers controllabilities of linear systems with multiple independent controllers, each of which is norm-bounded. Both the usual (cooperative) as well as the max-min (non-cooperative) controllability are examined. The problem of sending the initial state to some closed and convex target set is investigated. For the cooperative mode, a duality theory between controllability and observability is given, extending Kalman's fundamental result to the constrainted case.