Related papers: A Flat Triangular Form for Nonlinear Systems with …
We propose an algorithmic test to check whether a two-input system is linearizable by an endogenous dynamic feedback with a dimension of at most two. This test furthermore provides a procedure for systematically deriving flat outputs for…
In this contribution we discuss flat discrete-time nonlinear systems in a general setting including two special subclasses, namely, forward- and backward-flat systems. We relate rank conditions for certain submatrices of the Jacobian of the…
Dynamical systems with quadratic outputs have recently attracted significant attention. In this paper, we consider bilinear dynamical systems, a special class of weakly nonlinear systems, with a quadratic output. We develop various…
In this paper, an original result in terms of a sufficient condition to test identifiability of nonlinear delayed-differential models with constant delays and multi-inputs is given. The identifiability is studied for the linearized system…
Consider the planar linear switched system $\dot x(t)=u(t)Ax(t)+(1-u(t))Bx(t),$ where $A$ and $B$ are two $2\times2$ real matrices, $x \in \R^2$, and $u(.):[0,\infty[\to\{0,1\}$ is a measurable function. In this paper we consider the…
This paper is devoted to the characterization of differentially flat nonlinear systems in implicit representation, after elimination of the input variables, in the differential geometric framework of manifolds of jets of infinite order. We…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
We derive sufficient conditions for the solvability of the state estimation problem for a class of nonlinear control time-varying systems which includes those, whose dynamics have triangular structure. The state estimation is exhibited by…
Let's consider a control system described by the implicit equation $F(x,\dot x) = 0$. If this system is differentially flat, then the following criterion is satisfied : For some integer $r$, there exists a function $\varphi(y_0, y_1,…
We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…
Controlling hybrid systems is mostly very challenging due to the variety of dynamics these systems can exhibit. Inspired by the concept of differential flatness of nonlinear continuous systems and their inherent invertibility property, the…
The problem of inverting a system in presence of a series-defined output is analyzed. Inverse models are derived that consist of a set of algebraic equations. The inversion is performed explicitly for an output trajectory functional, which…
In this paper we address the problem of tracking control of nonlinear systems via contraction analysis. The necessary conditions of the systems which can achieve universal asymptotic tracking are studied under several different cases. We…
Bilinear dynamical systems are ubiquitous in many different domains and they can also be used to approximate more general control-affine systems. This motivates the problem of learning bilinear systems from a single trajectory of the…
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…
We consider the problem of shaping the transient step response of nonlinear systems to satisfy a class of integral constraints. Such constraints are inherent in hybrid energy systems consisting of energy sources and storage elements. While…
A control design approach is developed for a general class of uncertain strict-feedback-like nonlinear systems with dynamic uncertain input nonlinearities with time delays. The system structure considered in this paper includes a nominal…
We introduce a task-relative taxonomy of actuator inputs for nonlinear systems within the input-output feedback-linearization framework. Given a flat output specifying the task, inputs are classified as essential, redundant, or dexterity:…
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 applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…