Controllability and Observablity of Nonlinear Port-Controlled Hamiltonian Systems

A special kind of nonlinear port-controlled Hamilton system is researched. The controllability distribution and observability codistribution of the kind of nonlinear port-controlled Hamilton systems are disused by using differential geometric of nonlinear control system. At the same time, the controllability and observability of the nonlinear port-controlled Hamilton systems are disused. Then the relation between the controllability and observability is studied.