Related papers: Normal forms for x-flat two-input control-affine s…
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…
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 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…
In the present paper we deal with fully nonlinear two-dimensional smooth control systems with scalar input $\dot{q} = \bs{f}(q,u)$, $q \in M$, $u \in U$, where $M$ and $U$ are differentiable smooth manifolds of respective dimensions two and…
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…
Prediction-based transformation is applied to control-affine systems with distributed input delays. Transformed system state is calculated as a prediction of the system's future response to the past input with future input set to zero.…
Five equivalence classes had been found for systems of two second-order ordinary differential equations, transformable to linear equations (linearizable systems) by a change of variables. An "optimal (or simplest) canonical form" of linear…
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 gives an overview of the control of distributed-parameter systems using normal forms. Considering linear controllable PDE-ODE systems of hyperbolic type, two methods derive tracking controllers by mapping the system into a form…
This paper is motivated by the problem of asymptotically stabilizing invariant sets in the state space of control systems by means of output feedback. The sets considered are smooth embedded in submanifolds and the class of 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…
In this article we classify normal forms and unfoldings of linear maps in eigenspaces of (anti)-automorphisms of order two. Our main motivation is provided by applications to linear systems of ordinary differential equations, general and…
In this paper, we put the issue of dynamic equivalence of control systems in the context of pullbacks of coframings on infinite jet bundles over the state manifolds. While much attention has been given to differentially flat systems, i.e.…
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…
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…
The normal form for a system of ode's is constructed from its polynomial symmetries of the linear part of the system, which is assumed to be semi-simple. The symmetries are shown to have a simple structure such as invariant function times…
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:…
We propose easily verifiable necessary and sufficient conditions for the linearizability of two-input systems by an endogenous dynamic feedback with a dimension of at most two.
A control system $\dot{q} = f(q,u)$ is said to be trivializable if there exists local coordinates in which the system is feedback equivalent to a control system of the form $\dot{q} = f(u)$. In this paper we characterize trivializable…
The paper is devoted to the local classification of generic control-affine systems on an n-dimensional manifold with scalar input for any n>3 or with two inputs for n=4 and n=5, up to state-feedback transformations, preserving the affine…