A Flat Triangular Form for Nonlinear Systems with Two Inputs: Necessary and Sufficient Conditions
Optimization and Control
2014-11-27 v2
Abstract
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 discovery of new flat systems. The proof relies on well-known results for driftless systems with two controls (the chained form) and on geometric tools from exterior differential systems. The paper also illustrates the application of its results on an academic example and on a reduced order model of an induction motor.
Cite
@article{arxiv.1312.3527,
title = {A Flat Triangular Form for Nonlinear Systems with Two Inputs: Necessary and Sufficient Conditions},
author = {Hector Bessa Silveira and Paulo Sergio Pereira da Silva and Pierre Rouchon},
journal= {arXiv preprint arXiv:1312.3527},
year = {2014}
}
Comments
15 pages, submitted