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Unimodular completion and direct flat representation in the context of differential flatness

: Fritzsche, Klemens; Knoll, Carsten; Franke, Matthias; Röbenack, Klaus


Proceedings in applied mathematics and mechanics. PAMM 16 (2016), Nr.1, S.807-808
ISSN: 1617-7061
International Association of Applied Mathematics and Mechanics (GAMM Annual Meeting) <87, 2016, Braunschweig>
Zeitschriftenaufsatz, Konferenzbeitrag
Fraunhofer IIS, Institutsteil Entwurfsautomatisierung (EAS) ()

Despite its significance in nonlinear controller design, the verification of the property of differential flatness and the identification of so-called flat outputs is a continuing research topic. However, the difficulty of both verification and identification heavily depends on the representation of the system. This contribution shows that flatness may be a far less complicated matter, depending on the choice of coordinates.