中文摘要：

研究了一种特殊的端口受控的双线性Hamilton控制系统，利用非线性控制系统的微分几何理论，通过讨论输入向量场和控制向量场之间的李括号，以及输出函数沿着输入向量场和控制向量场的李导数，讨论了这类系统的可观性余分布与可控性分布，进而讨论了这类系统的可观性与可控性以及它们之间的关系。给出了该类系统可控与可观等价的条件．

英文摘要：

A kind of special port-controlled bilinear Hamilton system is researched. The controllability distribution and observability codistribution of the kind of port-controlled bilinear Hamilton systems are disused by using differential geometric of nonlinear control system. Lie brackets between input vector field and control vector field, Lie derivative of output function along input vector field and control vector field are researched. At the same time, the controllability and observability of the port-controlled bilinear Hamilton systems are discussed. Then the relation between the controllability and observability is studied. The equivalence condition of controllability and observability is given.