A practical design method of flat outputs for nonlinear control systems

Abstract

In this paper, we deal with a design method for nonlinear systems, focusing on flat outputs of the dynamical systems. The reason why flat outputs are focused on is as follows. Once flat outputs are found for nonlinear systems, all we have to do is to apply a linear design method to such nonlinear systems. This paper proposes a new type of practical computation method for flat outputs, because the existing computation methods are complicated and not suitable to a control design from a practical point of view. Simulation is given for illustrating the usefulness of the proposed design method.

Keywords

• nonlinear system
• differential flatness
• control design
• implicit system