Abstract: In order to investigate the variation of controllability and observability affected by network scheduling，the model of scheduling for Networked Control System（NCS） is established，which has communication constraint on its input and output channel.Utilizing communication sequence to express the scheduling of channel，the model can be transformed into discrete-time switch system.Under static scheduling，using the theory of recursive invariant subspace and its character，a necessary and sufficient condition of NCS is obtained.And then the relation of controllability and observability between before and after the static scheduling is presented.The simulations show the validity of the results.

Key words: networked control system, controllability, observability, static scheduling

摘要： 为了研究网络调度对能控性与能观性的影响，对输入、输出通道都存在通信约束的网络控制系统的调度进行建模；利用通信序列表示通道的调度情况，最终将模型转化为离散切换系统；在静态调度下，利用循环不变子空间理论及其相关的性质，给出了网络控制系统能控性、能观性成立的充要条件，并给出了原有控制系统与经网络静态调度后的系统之间能控性、能观性的关系；最后用仿真实例说明了所提结论的正确性。

关键词: 网络控制系统, 能控性, 能观性, 静态调度