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arXiv · 1910.07215

On the Linearization of Flat Two-Input Systems by Prolongations and Applications to Control Design

Conrad Gstöttner·Bernd Kolar·Markus Schöberl
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Abstract

In this paper we consider $(x,u)$-flat nonlinear control systems with two inputs, and show that every such system can be rendered static feedback linearizable by prolongations of a suitably chosen control. This result is not only of theoretical interest, but has also important implications on the design of flatness based tracking controls. We show that a tracking control based on quasi-static state feedback can always be designed in such a way that only measurements of a (classical) state of the system, and not measurements of a generalized Brunovsky state, as reported in the literature, are required.

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Conrad Gstöttner, Bernd Kolar, Markus Schöberl. 2019-10-16. On the Linearization of Flat Two-Input Systems by Prolongations and Applications to Control Design. https://doi.org/10.1016/j.ifacol.2020.12.1553

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