A normal form for two-input forward-flat nonlinear discrete-time systems

DOI10.1080/00207721.2020.1866095MaRDI QIDQ5028067zbMATH OpenOpenAlexFDO

Authors Johannes Diwold, Bernd Kolar, Markus Schöberl

Publication date 8 February 2022

Published in International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/2004.09437

zbMATH Keywords

discrete-time systemsnormal formsnonlinear control systemsfeedback linearisationdifferential-geometric methodsdifference flatness

Mathematics Subject Classification ID

Linearizations (93B18) Feedback control (93B52) Nonlinear systems in control theory (93C10) Discrete-time control/observation systems (93C55)

Abstract: We show that every flat nonlinear discrete-time system with two inputs can be transformed into a structurally flat normal form by state- and input transformations. This normal form has a triangular structure and allows to read off the flat output, as well as a systematic construction of the parameterization of all system variables by the flat output and its forward-shifts. For flat continuous-time systems no comparable normal form exist.

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Cites work

• scientific article; zbMATH DE number 46299 (Why is no real title available?)
• scientific article; zbMATH DE number 166511 (Why is no real title available?)
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Cited in

(4)

• Differential-geometric decomposition of flat nonlinear discrete-time systems
• Normal forms for multi-input flat systems of minimal differential weight
• A triangular canonical form for a class of 0-flat nonlinear systems
• Data-driven invariant set for nonlinear systems with application to command governors

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