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Differential Flatness of Two OneForms in Arbitrary Number of Variables 
Abstract 
Given a differentially flat system of ODEs … Given a differentially flat system of ODEs, flat outputs that depend only on original
variables but not on their derivatives are called zeroflat outputs and systems possessing
such outputs are called zeroflat. In this paper we present a theory of zeroflatness for
a system of two oneforms in arbitrary number of variables $(t,x^1,\dots,x^N)$. Our
approach splits the task of finding zeroflat outputs into two parts. First part involves
solving for distributions that satisfy a set of algebraic conditions. If the first part
has no solution then the system is not zeroflat. The second part involves finding an
integrable distribution from the solution set of the first part. Typically this part
involves solving PDEs. Our results are also applicable in determining if a control affine
system in $n$ states and $n2$ controls has flat outputs that depend only on states. We
illustrate our method by examples. tes. We
illustrate our method by examples. +


Authors  Muruhan Rathinam and Richard M. Murray + 
ID  1996n + 
Source  <i>Systems and Control Letters</i>, 36:317326, 1999. + 
Tag  rm97ecc + 
Title  Differential Flatness of Two OneForms in Arbitrary Number of Variables + 
Type  Conference paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:20:11 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/rm97ecc.pdf + 
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