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

DOI10.1016/J.EJCON.2015.01.001zbMATH Open1367.93109arXiv1312.3527OpenAlexW2964082798MaRDI QIDQ2012001FDOQ2012001

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

Publication date: 27 July 2017

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

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.

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)

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Cited In (4)

• A structurally flat triangular form based on the extended chained form
• Dynamic feedback linearization of control systems with symmetry
• Multi-input control-affine systems static feedback equivalent to a triangular form and their flatness
• Flat singularities of chained systems, illustrated with an aircraft model

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