Related papers: On the computation of $\pi$-flat outputs for diffe…
This paper deals with linear time-varying, delay systems. Extensions of the concept of differential flatness \cite{Fliess_95} to this context have been first proposed in \cite{Mounier_95,Fliess_96} (see also \cite{Rudolph_03,Chyzak_05}), by…
This paper is devoted to the study of the flatness property of linear time-invariant fractional systems. In the framework of polynomial matrices of the fractional derivative operator, we give a characterization of fractionally flat outputs…
For discrete-time systems, flatness is usually defined by replacing the time-derivatives of the well-known continuous-time definition by forward-shifts. With this definition, the class of flat systems corresponds exactly to the class of…
Flatness of discrete-time systems can be characterized by two simple properties. There exists a map, a submersion, from the flat coordinates and their forward shifts to the state and the input of the discrete-time system, such that the…
The paper studies the relation between a nonlinear time-varying flat discrete-time system and the corresponding linear time-varying systems which are obtained by a linearization along trajectories. It is motivated by the continuous-time…
Differential flatness serves as a powerful tool for controlling continuous time nonlinear systems in problems such as motion planning and trajectory tracking. A similar notion, called difference flatness, exists for discrete-time systems.…
Time delay estimation plays a critical role in control, stabilization and state estimation of many practical system with time delay. In this paper, we propose a method to estimate delay for discrete time linear multiple-input…
We prove that every flat nonlinear discrete-time system can be decomposed by coordinate transformations into a smaller-dimensional subsystem and an endogenous dynamic feedback. For flat continuous-time systems, no comparable result is…
Despite ongoing research, testing the flatness of discrete-time systems remains a challenging problem. To date, only the property of forward-flatness - a special case of difference-flatness - can be checked in a computationally efficient…
The paper addresses the exact linearization of flat nonlinear discrete-time systems by generalized static or dynamic feedbacks which may also depend on forward-shifts of the new input. We first investigate the question which forward-shifts…
In this article, we introduce the notion of differential flatness by pure prolongation: loosely speaking, a system admits this property if, and only if, there exists a pure prolongation of finite order such that the prolonged system is…
The concept of positively invariant (PI) sets has proven effective in the formal verification of stability and safety properties for autonomous systems. However, the characterization of such sets is challenging for nonlinear systems in…
We consider the modeling, stability analysis and controller design problems for discrete-time LTI systems with state feedback, when the actuation signal is subject to switching propagation delays, due to e.g. the routing in a multi-hop…
It is known that input-output approaches based on scaled small-gain theorems with constant $D$-scalings and integral linear constraints are non-conservative for the analysis of some classes of linear positive systems interconnected with…
A novel adaptive identifier is developed for nonlinear time-delay systems composed of linear, Lipschitz and non-Lipschitz components. To begin with, an identifier is designed for uncertain systems with a priori known delay values, and then…
We show that the flatness of a nonlinear discrete-time system can be checked by computing a unique sequence of involutive distributions. The well-known test for static feedback linearizability is included as a special case. Since the…
This paper is devoted to the investigation of the nonnegative solutions and the stability and asymptotic properties of the solutions of fractional differential dynamic systems involving delayed dynamics with point delays. The obtained…
We describe a method to model nonlinear dynamical systems using periodic solutions of delay-differential equations. We show that any finite-time trajectory of a nonlinear dynamical system can be loaded approximately into the initial…
In this paper, we first propose a method that can efficiently compute the maximal robust controlled invariant set for discrete-time linear systems with pure delay in input. The key to this method is to construct an auxiliary linear system…
A procedure and theoretical results are presented for the problem of determining a minimal robust positively invariant (RPI) set for a linear discrete-time system subject to unknown, bounded disturbances. The procedure computes, via the…