A Structurally Flat Triangular Form Based on the Extended Chained Form

Conrad Gstöttner; Bernd Kolar; Markus Schöberl

doi:10.1080/00207179.2020.1841302

A Structurally Flat Triangular Form Based on the Extended Chained Form

Institute of Control Systems

Research output: Contribution to journal › Article › peer-review

Abstract

In this paper, we present a structurally flat triangular form which is based on the extended chained form. We provide a complete geometric characterization of the proposed triangular form in terms of necessary and sufficient conditions for an affine input system with two inputs to be static feedback equivalent to this triangular form. This yields a sufficient condition for an affine input system to be flat.

Original language	English
Pages (from-to)	1144-1163
Number of pages	20
Journal	International Journal of Control
Volume	95
Issue number	5
DOIs	https://doi.org/10.1080/00207179.2020.1841302
Publication status	Published - Oct 2020

Fields of science

202017 Embedded systems
203015 Mechatronics
101028 Mathematical modelling
202 Electrical Engineering, Electronics, Information Engineering
202003 Automation
202027 Mechatronics
202034 Control engineering

JKU Focus areas

Digital Transformation
Sustainable Development: Responsible Technologies and Management

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10.1080/00207179.2020.1841302

Cite this

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title = "A Structurally Flat Triangular Form Based on the Extended Chained Form",

abstract = "In this paper, we present a structurally flat triangular form which is based on the extended chained form. We provide a complete geometric characterization of the proposed triangular form in terms of necessary and sufficient conditions for an affine input system with two inputs to be static feedback equivalent to this triangular form. This yields a sufficient condition for an affine input system to be flat.",

author = "Conrad Gst{\"o}ttner and Bernd Kolar and Markus Sch{\"o}berl",

year = "2020",

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AB - In this paper, we present a structurally flat triangular form which is based on the extended chained form. We provide a complete geometric characterization of the proposed triangular form in terms of necessary and sufficient conditions for an affine input system with two inputs to be static feedback equivalent to this triangular form. This yields a sufficient condition for an affine input system to be flat.

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DO - 10.1080/00207179.2020.1841302

M3 - Article

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JO - International Journal of Control

JF - International Journal of Control

IS - 5

ER -

A Structurally Flat Triangular Form Based on the Extended Chained Form

Abstract

Fields of science

JKU Focus areas

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Other files and links

Flatness based system decompositions

Cite this

A Structurally Flat Triangular Form Based on the Extended Chained Form

Abstract

Fields of science

JKU Focus areas

Access to Document

Other files and links

Projects

Flatness based system decompositions

Cite this