Controllability

Controllability asks whether the available control inputs can move a dynamical system between every pair of states in its declared state space. Fixing a duration $T>0$ gives the precise condition ${\mathcal{R}}_T(x_0)=X$ for every $x_0\in X$, where $X$ is the state space and ${\mathcal{R}}_T(x_0)$ its reachable set. With freely chosen duration, every pair must instead be connectable in some permitted finite time, which may depend on the pair. Always specify admissible control inputs, deadlines and any constraints along the path. ^[ref]

The surprising part is that one control input can control several state variables by acting at different times. For the double integrator, acceleration changes velocity directly, while the accumulated velocity changes position. Starting from rest, accelerate during the first half of the journey and brake during the second: the final velocity can vanish although the final position has changed. The figure is an analytic mathematical example in dimensionless quantities, with no experimental measurements.

Controllability is useful before trying to design a controller: a requested endpoint outside the reachable set cannot be attained by clever choice of feedback control. The Kalman rank criterion makes this an exact linear algebra calculation for the stated linear time-invariant system model. It concerns whole states, so attaining one plant output is not enough to establish controllability. In quantum control, the declared state space may be an orbit constrained by conservation laws; see quantum controllability and unitary orbit of a density operator.