On a Flat Triangular Form Based on the Extended Chained Form

DOI10.1016/J.IFACOL.2021.06.082MaRDI QIDQ6334089zbMATH OpenFDO

Authors Conrad Gstöttner, Bernd Kolar, Markus Schöberl

Publication date 4 February 2020

Full work available at URL https://doi.org/10.1016/J.IFACOL.2021.06.082

Abstract: In this paper, we present a structurally flat triangular form which is based on the extended chained form. We provide necessary and sufficient conditions for an affine input system with two inputs to be static feedback equivalent to the proposed triangular form, and thus a sufficient condition for an affine input system to be flat.

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