In this paper we consider (x,u)-flat nonlinear control systems with two inputs, and show that every such system can be rendered static feedback linearizable by prolongations of a suitably chosen control. This result is not only of theoretical interest, but has also important implications on the design of flatness based tracking controls. We show that a tracking control based on quasi-static state feedback can always be designed in such a way that only measurements of a (classical) state of the system, and not measurements of a generalized Brunovsky state, as reported in the literature, are required.
@article{arxiv.1910.07215,
title = {On the Linearization of Flat Two-Input Systems by Prolongations and Applications to Control Design},
author = {Conrad Gstöttner and Bernd Kolar and Markus Schöberl},
journal= {arXiv preprint arXiv:1910.07215},
year = {2021}
}