Related papers: On an implicit triangular decomposition of nonline…
Determining whether a nonlinear multi-input system is differentially flat remains challenging. One way to obtain computationally tractable sufficient conditions is to give complete characterizations of flat normal forms. We introduce a…
In this paper, for continuous, linearly-controllable quadratic control systems with a single input, an explicit, constructive method is proposed for studying their Brunovsky forms, initially studied in [W. Kang and A. J. Krener, Extended…
In this paper, we give normal forms for flat two-input control-affine systems in dimension five that admit a flat output depending on the state only (we call systems with that property x-flat systems). We discuss relations of x-flatness in…
In this paper, by using the Brunovsky normal form, we provide a reformulation of the problem consisting in finding the actuator design which minimizes the controllability cost for finite-dimensional linear systems with scalar controls. Such…
We present a broadly applicable structurally flat triangular form for x-flat control-affine systems with three inputs. Building on recent results for the derivative structure of flat outputs, we define the triangular form together with…
The present work establishes necessary and sufficient conditions for a nonlinear system with two inputs to be described by a specific triangular form. Except for some regularity conditions, such triangular form is flat. This may lead to the…
The Brunovsky canonical form provides sparse structural representations that are beneficial for computational optimal control, yet existing methods fail to compute it reliably. We propose a technique that produces Brunovsky transformations…
Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their practicality. To address this…
This paper examines a broadly applicable triangular normal form for x-flat control-affine systems with two inputs. First, we show that this triangular form encompasses a wide range of established normal forms. Next, we prove that any x-flat…
Linear projection schemes like Proper Orthogonal Decomposition can efficiently reduce the dimensions of dynamical systems but are naturally limited, e.g., for convection-dominated problems. Nonlinear approaches have shown to outperform…
The purposes of this paper are to classify lower triangular forms and to determine under what conditions a nonlinear system is equivalent to a specific type of lower triangular forms. According to the least multi-indices and the greatest…
We study trajectory tracking for flat nonlinear systems with unmatched uncertainties using the model-following control (MFC) architecture. We apply state feedback linearisation control for the process and propose a simplified implementation…
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…
We show that every flat nonlinear discrete-time system with two inputs can be transformed into a structurally flat normal form by state- and input transformations. This normal form has a triangular structure and allows to read off the flat…
In this paper, we present a structurally flat triangular form which is based on the extended chained form. We provide a complete geometric characterization of the proposed triangular form in terms of necessary and sufficient conditions for…
We develop an indirect-adaptive model predictive control algorithm for uncertain linear systems subject to constraints. The system is modeled as a polytopic linear parameter varying system where the convex combination vector is constant but…
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…
This paper is devoted to normal forms for x-flat control-affine systems with two inputs. We propose a general triangular normal form which contains several other normal forms discussed in the literature as special cases. We derive…
We investigate a new class of nonlinear control systems of O.D.E., which are not feedback linearizable in general. Our class is a generalization of the well-known feedback linearizable systems, and moreover it is a generalization of the…
We examine when differentially flat nonlinear control systems with more than two inputs can be rendered static feedback linearizable by a minimal number of prolongations of suitably chosen inputs after applying a static input…