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

被引：7
|
作者：
Silveira, Hector B. [1 ]
Pereira da Silva, Paulo S. [2 ]
Rouchon, Pierre [3 ]
机构：
[1] Fed Univ Santa Catarina UFSC, DAS, Florianopolis, SC, Brazil
[2] Univ Sao Paulo, Escola Politecn PTC, Sao Paulo, Brazil
[3] Mines ParisTech, CAS, Paris, France
来源：
EUROPEAN JOURNAL OF CONTROL | 2015年 / 22卷
关键词：
Differential flatness; Exterior differential systems; Nonlinear systems; Triangular forms;
D O I：
10.1016/j.ejcon.2015.01.001
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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. (C) 2015 European Control Association. Published by Elsevier Ltd. All rights reserved.
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页码：17 / 22
页数：6
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