15.1 Basic System Properties

This section provides a brief overview of two fundamental concepts in control theory: stability and controllability. Either can be considered as characterizing how a goal state is reached. Stability usually involves feedback and may only converge to the goal as time approaches infinity. Controllability assesses whether an action trajectory exists that leads exactly to a specified goal state. In both cases, there is no obstacle region in $ X$.


Steven M LaValle 2012-04-20