• (C,A) is
observable if, for any t1 > 0, the initial
state x(0) = x0 can be determined from the time history of
the input u(t) and the output y(t) in the interval of [0,t1].
• The matrix
is positive definite for any t > 0.
•The
observability matrix O has
full column rank, i.e.,
•The
eigenvalues of A+LC can be freely assigned by a
suitable L.
•