S S symmetry Article Observability and Symmetries of Linear Control Systems Víctor Ayala 1,∗, Heriberto Román-Flores 1, María Torreblanca Todco 2 and Erika Zapana 2 1 Instituto de Alta Investigación, Universidad de Tarapacá, Casilla 7D, Arica 1000000, Chile;
[email protected] 2 Departamento Académico de Matemáticas, Universidad, Nacional de San Agustín de Arequipa, Calle Santa Catalina, Nro. 117, Arequipa 04000, Peru;
[email protected] (M.T.T.);
[email protected] (E.Z.) * Correspondence:
[email protected] Received: 7 April 2020; Accepted: 6 May 2020; Published: 4 June 2020 Abstract: The goal of this article is to compare the observability properties of the class of linear control systems in two different manifolds: on the Euclidean space Rn and, in a more general setup, on a connected Lie group G. For that, we establish well-known results. The symmetries involved in this theory allow characterizing the observability property on Euclidean spaces and the local observability property on Lie groups. Keywords: observability; symmetries; Euclidean spaces; Lie groups 1. Introduction For general facts about control theory, we suggest the references, [1–5], and for general mathematical issues, the references [6–8]. In the context of this article, a general control system S can be modeled by the data S = (M, D, h, N). Here, M is the manifold of the space states, D is a family of differential equations on M, or if you wish, a family of vector fields on the manifold, h : M ! N is a differentiable observation map, and N is a manifold that contains all the known information that you can see of the system through h.