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

DOI10.1080/00207721.2020.1866095zbMATH Open1483.93359arXiv2004.09437OpenAlexW3122731963MaRDI QIDQ5028067FDOQ5028067

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)

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.

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

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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)

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

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