Controllability test for lqr

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Bilal sadiq 2018-9-10

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https://ww2.mathworks.cn/matlabcentral/answers/418395-controllability-test-for-lqr

Hi everyone hope some on will help i have a state space model with 6 states x1=angle x2=angular vel x3=Actuator Force x4=actuator displ x5=actuator vel x6=activation and B=[0 0 0 0 0 80]';

my question is when i check rank of controllability it shows 4 means there is some 2 states which can not be controlled( i have used minreal) i got transfer function but i am unable to exactly identifies which state has been eliminated????? from poles or eigenvalues how can we identify that this eigenvalue(or pole) belongs to this state????

moreover the surprising thing is when i use minreal it gives me 5 state (controllable and observable model) how can i infer from this model that this state has been eliminated (x1 , x2 ,x3 ,x4 x5 or x6 which one )

hope i have clearly explained my query and some one will definitely help me

thanks in advance