Abstract
This paper is concerned with the study of flat outputs for multiple-input-multiple-output (MIMO) controllable linear time-invariant discrete- and continuous-time systems in state-space representation. Leveraging the equivalence of flatness to an estimation-theoretic system property known as strong observability, a quick computational test is developed for ascertaining if an output candidate is flat and the subspace of flat outputs can be constructively characterized. Moreover, we propose a computational method to find differentially (continuous-time), as well as non-causal and causal difference (discrete-time) flat outputs via a system transformation into a special control canonical form. Finally, design principles for flatness-based trajectory planning and tracking control for discrete-time systems are presented, which to our best knowledge, have yet to be successfully demonstrated.
Original language | English (US) |
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Title of host publication | ACC 2015 - 2015 American Control Conference |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 3898-3904 |
Number of pages | 7 |
Volume | 2015-July |
ISBN (Electronic) | 9781479986842 |
DOIs | |
State | Published - Jan 1 2015 |
Externally published | Yes |
Event | 2015 American Control Conference, ACC 2015 - Chicago, United States Duration: Jul 1 2015 → Jul 3 2015 |
Other
Other | 2015 American Control Conference, ACC 2015 |
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Country | United States |
City | Chicago |
Period | 7/1/15 → 7/3/15 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering