Related papers: On the Linearization of Flat Two-Input Systems by …
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…
It is well known that for flat systems the tracking control problem can be solved by utilizing a linearizing quasi-static feedback of generalized states. If measurements (or estimates) of a so-called generalized Brunovsk\'y state are…
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…
We study the exact linearization of configuration flat Lagrangian control systems with p degrees of freedom and p-1 inputs by quasi-static feedback of classical states. First, we present a detailed analysis of the structure of the…
In this paper, we examine the exact linearization of configuration flat Lagrangian control systems in generalized state representation with p degrees of freedom and p-1 control inputs by quasi-static feedback of its generalized state. We…
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 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,…
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…
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…
This paper proposes a tracking controller based on the concept of flat inputs and a dynamic compensator. Flat inputs represent a dual approach to flat outputs. In contrast to conventional flatness-based control design, the regulated output…
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…
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…
This note studies the robust output feedback stabilization problem of a class of multi-input multi-output invertible nonlinear systems, for which an "ideal" state feedback based on feedback linearization can be designed under certain mild…
In this paper, we directly design a state feedback controller that stabilizes a class of uncertain nonlinear systems solely based on input-state data collected from a finite-length experiment. Necessary and sufficient conditions are derived…
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…
We establish a separation principle for the output feedback stabilisation of state-affine systems that are observable at the stabilization target. Relying on control templates (recently introduced in [4]), that allow to approximate a…
This survey paper deals with the stabilization of nonlinear systems by analyzing the controlling method in terms of state feedback and output feedback. A brief overview of some literature on how the feedback controller of some dynamic…
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 stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
We present an extension of Willems' Fundamental Lemma to the class of multi-input multi-output discrete-time feedback linearizable nonlinear systems, thus providing a data-based representation of their input-output trajectories. Two sources…