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Flatness and Monge parameterization of two-input systems, control-affine with 4 states or general with 3 states

David Avanessoff·Jean-Baptiste Pomet
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Abstract

This paper studies Monge parameterization, or differential flatness, of control-affine systems with four states and twocontrols. Some of them are known to be flat, and this implies admitting a Monge parameterization. Focusing on systems outside this class, we describe the only possible structure of such a parameterization for these systems, and give a lower bound on the order of this parameterization, if it exists. This lower-bound is good enough to recover the known results about "(x,u)-flatness" of these systems, with much more elementary techniques.

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David Avanessoff, Jean-Baptiste Pomet. 2005-12-02. Flatness and Monge parameterization of two-input systems, control-affine with 4 states or general with 3 states. https://doi.org/10.1051/cocv%3A2007011

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