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how to change Uncontrollable and unobservable model to controllable and observable

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Avinash Tallapaneni
Avinash Tallapaneni on 11 Nov 2018
hi guys
Km = 50.2*10^-3; % NM/A
Kb = (1/(190*2*pi/60)); %or V/Wm (wm in rps) volt/rps
Jm =11.6 *10^-7; %kgm^2
Bm = ((50.2*10^-3)*(20*10^-3)/(9080*2*pi/60));
R =10.6; %ohm
L = .82*10^-3;% H(henry)
Jl = 1.16*10^-6;
c = 6.8117 * 10^-5;
Ks= 0.05;
a = [-R/L 0 -Kb/L 0 0;
0 0 1 0 0;
Km/Jm -Ks/Jm -c/Jm Ks/Jm c/Jm ;
0 0 0 0 1;
0 Ks/Jl c/Jl -Ks/Jl -c/Jl]
b = [1/L;0;0;0;0]
p = [0 1 0 0 0]
this is my code... it says the system is uncontrollable and unobservable. my question is how to make this into controllable and observable?
thankyou

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