A flat triangular form for nonlinear systems with two inputs: necessary and sufficient conditions

DOI10.1016/J.EJCON.2015.01.001MaRDI QIDQ2012001zbMATH OpenOpenAlexFDO

Authors Hector B. Silveira, Pierre Rouchon, Paulo Sérgio Pereira Da Silva

Publication date 27 July 2017

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1312.3527

zbMATH Keywords

exterior differential systemsnonlinear systemsdifferential flatnesstriangular forms

Mathematics Subject Classification ID

Canonical structure (93B10) Nonlinear systems in control theory (93C10)

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.

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Cites work

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(8)

• Multi-input control-affine systems static feedback equivalent to a triangular form and their flatness
• Conditions for the existence of a flat input
• A structurally flat triangular form based on the extended chained form
• Flat singularities of chained systems, illustrated with an aircraft model
• A triangular canonical form for a class of 0-flat nonlinear systems
• A normal form for two-input forward-flat nonlinear discrete-time systems
• On an implicit triangular decomposition of nonlinear control systems that are 1-flat -- a constructive approach
• Dynamic feedback linearization of control systems with symmetry

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