Nonlinear control and filtering using differential flatness approaches. Applications to electromechanical systems
Control and state estimation of dynamical systems is an important task in applications. The main subject of the monograph is the differential flatness theory and its applications to control and estimation for systems of ordinary differential equations (also those coming from suitable approximations of partial differential equations). Control and estimation of linear systems is now quite well understood. The differential flatness theory allow us to linearize a wide class of nonlinear systems appearing in applications. In Chapter~1, an overview on certain concepts related with the study of nonlinear dynamics is presented as well on the ``predecessors of differential flatness theory as the differential algebraic approach. In Chapter~2, the definition of differentially flat systems is presented as well as the concept of flatness-based control. Flatness-based adaptive (fuzzy) control is proposed in Chapter~3 to deal with certain dynamical uncertainties. Then, in Chapter~4, the concept of flatness-based nonlinear filtering is presented to deal with the problem of state estimation/observer design. Chapters~5--11 deal with the applications of differential flatness theory in several control/estimation applications as robotics, electric motors, and combustion engines. Chapters~12 and~13 deal with the applications of differential flatness theory to control, estimation, and fault detection for (suitable finite-dimensional approximations of) partial differential equations, and with the relations (comparisons) with other control methods as the backstepping method. The book contains many figures including the results of several numerical simulations and as the author refers in the preface ``... the book can be a useful reference for researchers, academic tutors, and engineers that come against complex nonlinear control and nonlinear dynamics problems.
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