In this contribution, we present a constructive method to derive flat sampled-data models for continuous-time flat systems through an implicit Euler-discretization. We show how the sampled-data model can be used subsequently for a flatness-based controller design, and illustrate our results with the well-known planar VTOL aircraft example.
@article{arxiv.2202.07520,
title = {Discrete-time Flatness-based Controller Design using an Implicit Euler-discretization},
author = {Johannes Diwold and Bernd Kolar and Markus Schöberl},
journal= {arXiv preprint arXiv:2202.07520},
year = {2024}
}