MINES ParisTech CAS - Centre automatique et systèmes

VECTOR RELATIVE DEGREE AND INTERNAL DYNAMICS OF NON-FLAT OUTPUTS OF FLAT SYSTEMS

6 novembre 2006, Salle R05, au Centre Automatique et Systèmes, Fontainebleau
14h : Felix ANTRITTER, Lehrstuhl für Regelungstechnik, Erlangen, Germany.
For differentially flat systems a differential parameterization of the states and inputs with a flat output is possible. Also a non-flat output of the system which is to be controlled can be differentially parameterized with a flat output. For a given reference trajectory for the non-flat output, a corresponding trajectory for the flat output can be determined on the basis of this differential parameterization. For example in the case of non-minimum phase outputs the resulting trajectory for the flat output can be used to stabilize the trajectory for the non-flat output using a flatness based tracking controller.
In this talk the properties of the differential parameterization of the non-flat output with the flat output for multi-input systems are investigated using the notion of vector relative degree and input-output linearization. The results are compared to existing results for single-input systems.