Measures for controllability and eigenvalue mobility

An eigenvalue mobility measure is defined that provides quantitative information about system properties such as controllability, observability, and pole assignability. The eigenvalue mobility is shown to be proportional to the distances between an eigenvalue and certain zeros of the system. Alternatively, the eigenvalue mobility is expressed in terms of eigenvectors and residues of the system. The analyses are performed for both centralized and decentralized systems, and for simple and repeated eigenvalues