Exakte Linearisierung durch quasistatische Rückführungen: Ein Überblick für eine Klasse Lagrangescher Systeme

This paper provides an overview of the exact linearization of minimally underactuated configuration flat Lagrangian systems in both classical and generalized state-space representations. Based on the analysis of the Jacobian matrix of the parameterization of the classical and generalized state by a flat output and its time derivatives, it is shown how appropriate time derivatives of the corresponding flat output can be systematically selected as new input variables. The presented approaches enable the systematic determination of all possible integrator chain lengths to which a minimally underactuated configuration flat Lagrangian system can be transformed through a quasi-static feedback of the classical or generalized state, without causing singularities at equilibrium points.