Abstract
This contribution deals with nonlinear multi-input systems, in particular with the analysis of normal forms in a Pfaffian system representation. It is well-known that systems
that are exactly linearisable by static feedback allow for a special triangular representation in adapted coordinates based on certain involutive distributions. Furthermore, systems that are flat
but not exactly linearisable by static feedback can be analyzed using a similar normal-form, if the systems allow for a flat output which does not depend on the derivatives of the inputs. We will introduce this normal form in triangular
shape and provide a constructive algorithm in order to sequentially transform flat systems (if possible) into this desired form. This normal form will not be derived by using a dynamic compensator
but by making use of implicit differential equations. By means of three examples we visualize our approach.
| Translated title of the contribution | A Normal Form for a Special Class of Flat Nonlinear Multi-Input Systems in Pfaffian system representation |
|---|---|
| Original language | German (Austria) |
| Pages (from-to) | 463-474 |
| Number of pages | 12 |
| Journal | at - Automatisierungstechnik |
| Volume | 62 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - Aug 2014 |
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
- Mechatronics and Information Processing