The Studying on the Structural Controllability of Single Inverted Pendulum Over F(z)

In this paper, a rational function matrix is proposed in recent years to analyze the structural properties of single inverted pendulum. First, the Smith form PBH controllability criterion for the system over which is studied from existing conclusion is a new result. Then the controllability problem of single inverted pendulum is researched and shows the system to be controllable over, i.e, structurally controllable. The proposed method may be used to analyze the controllability of other linear systems.