Related papers: A criterion for the differential flatness of a non…
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…
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…
It is widely recognized that no tractable necessary and sufficient conditions exist for determining whether a system is, in general, differentially flat. However, specific cases do provide such conditions. For instance, driftless systems…
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…
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…
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…
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.…
Given an essentially finite type morphism of schemes f: X --> Y and a positive integer d, let f^{d}: X^{d} --> Y denote the natural map from the d-fold fiber product, X^{d}, of X over Y and \pi_i: X^{d} --> X the i'th canonical projection.…
In general, flat outputs of a nonlinear system may depend on the system's state and input as well as on an arbitrary number of time derivatives of the latter. If a flat output which also depends on time derivatives of the input is known,…
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 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…
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…
Learning-based optimal control algorithms control unknown systems using past trajectory data and a learned model of the system dynamics. These controllers use either a linear approximation of the learned dynamics, trading performance for…
We present a constructive criterion for flatness of a morphism of analytic spaces X -> Y or, more generally, for flatness over Y of a coherent sheaf of modules on X. The criterion is a combination of a simple linear-algebra condition "in…
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 a system of partial differential equations (PDEs) $F = 0$ admitting a local (point, contact, or higher) symmetry $X$ with the characteristic $\varphi$, invariant solutions satisfy the reduced system $F = \varphi = 0$. We propose a…
We consider a class of systems of difference equations defined on an elementary quadrilateral of the ${\mathbb{Z}}^2$ lattice, define their eliminable and dynamical variables, and demonstrate their use. Using the existence of infinite…
In this paper, we study the singularities of locally flat systems, motivated by the solution, if it exists, of the global motion planning problem for such systems, in the spirit of \cite{CE_14}. More precisely, flat outputs may be only…
In this paper, we give a criterion on instability of an equilibrium of nonlinear Caputo fractional differential systems. More precisely, we prove that if the spectrum of the linearization has at least one eigenvalue in the sector…
We define parafermionic observables in various lattice loop models, including examples where no Kramers-Wannier duality holds. For a particular rhombic embedding of the lattice in the plane and a value of the parafermionic spin these…