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arXiv · 2403.15592

A Triangular Normal Form for x-Flat Control-Affine Two-Input Systems

Conrad Gstöttner·Bernd Kolar·Markus Schöberl
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Abstract

This paper is devoted to normal forms for x-flat control-affine systems with two inputs. We propose a general triangular normal form which contains several other normal forms discussed in the literature as special cases. We derive conditions under which a system with given x-flat output can be transformed into the proposed triangular form. Based on the triangular form we motivate a simple algorithm for identifying candidates for flat outputs.

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Conrad Gstöttner, Bernd Kolar, Markus Schöberl. 2024-03-22. A Triangular Normal Form for x-Flat Control-Affine Two-Input Systems. https://doi.org/10.1109/mmar62187.2024.10680807

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