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Differential Flatness of Two One-Forms 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 zero-flat outputs and systems possessing
such outputs are called zero-flat. In this paper we present a theory of zero-flatness for
a system of two one-forms in arbitrary number of variables $(t,x^1,\dots,x^N)$. Our
approach splits the task of finding zero-flat 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 zero-flat. 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 $n-2$ controls has flat outputs that depend only on states. We
illustrate our method by examples. tes. We
illustrate our method by examples. +
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Authors | Muruhan Rathinam and Richard M. Murray + |
ID | 1996n + |
Source | <i>Systems and Control Letters</i>, 36:317-326, 1999. + |
Tag | rm97-ecc + |
Title | Differential Flatness of Two One-Forms in Arbitrary Number of Variables + |
Type | Conference paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:20:11 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/rm97-ecc.pdf + |
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Differential Flatness of Two One-Forms in Arbitrary Number of Variables + | Title |
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