On the relation of FIM and Controllability Gramian

In this paper being presented the correlation of Fisher Information Matrix(FIM) and Controllability Gramian(CG) based on estimation-theoretic and information-theoretic explanations. Resource-economic use of information is of primary concern in issues of control under communication constraints. We need to emphasize more on informational aspect which has got direct relation with uncertainties in terms of Shannon Entropy and Mutual Information(MI). Disturbances due to communication channel-induced noises and limited bandwidth are causing the information packet-loss and delays resulting in degradation of control performance. CG is a measure of control performance and Fisher Information (FI)is a measure of accuracy of estimation (which needs to be done in uncertainties caused by packet-loss and delays of the network).