http://www.cds.caltech.edu/~murray/wiki/index.php?title=Differential_Flatness_and_Absolute_Equivalence_of_Nonlinear_Control_Systems&feed=atom&action=historyDifferential Flatness and Absolute Equivalence of Nonlinear Control Systems - Revision history2020-08-05T11:18:16ZRevision history for this page on the wikiMediaWiki 1.23.12http://www.cds.caltech.edu/~murray/wiki/index.php?title=Differential_Flatness_and_Absolute_Equivalence_of_Nonlinear_Control_Systems&diff=20061&oldid=prevMurray: htdb2wiki: creating page for 1994d_nrm94-cdc.html2016-05-15T06:20:50Z<p>htdb2wiki: creating page for 1994d_nrm94-cdc.html</p>
<p><b>New page</b></p><div>{{HTDB paper<br />
| authors = Michiel van Nieuwstadt, Muruhan Rathinam, Richard M. Murray <br />
| title = Differential Flatness and Absolute Equivalence of Nonlinear Control Systems <br />
| source = <i>SIAM J. Control and Optimization</i>, 36(4):1225-1239<br />
| year = 1998<br />
| type = CDS<br />
Technical Report<br />
| funding = <br />
| url = http://www.cds.caltech.edu/~murray/preprints/nm94-cds.pdf<br />
| abstract = In this paper we give a formulation of differential flatness---a concept originally<br />
introduced by Fleiss, Levine, Martin, and Rouchon---in terms of absolute equivalence<br />
between exterior differential systems. Systems which are differentially flat have several<br />
useful properties which can be exploited to generate effective control strategies for<br />
nonlinear systems. The original definition of flatness was given in the context of<br />
differentiable algebra, and required that all mappings be meromorphic functions. Our<br />
formulation of flatness does not require any algebraic structure and allows one to use<br />
tools from exterior differential systems to help characterize differentially flat systems.<br />
In particular, we shown that in the case of single input control systems (i.e.,<br />
codimension 2 Pfaffian systems), a system is differentially flat if and only if it is<br />
feedback linearizable via static state feedback. However, in higher codimensions feedback<br />
linearizability and flatness are *not* equivalent: one must be careful with the role of<br />
time as well the use of prolongations which may not be realizable as dynamic feedbacks in<br />
a control setting. Applications of differential flatness to nonlinear control systems and<br />
open questions will be discussed. <br />
| flags = NoRequest<br />
| tag = nrm94-cdc<br />
| id = 1994d<br />
}}</div>Murray