Computational methods for MIMO flat linear systems: Flat output characterization, test and tracking control

Sze Yong, Brian Paden, Emilio Frazzoli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

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 languageEnglish (US)
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3898-3904
Number of pages7
Volume2015-July
ISBN (Electronic)9781479986842
DOIs
StatePublished - Jan 1 2015
Externally publishedYes
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: Jul 1 2015Jul 3 2015

Other

Other2015 American Control Conference, ACC 2015
CountryUnited States
CityChicago
Period7/1/157/3/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Yong, S., Paden, B., & Frazzoli, E. (2015). Computational methods for MIMO flat linear systems: Flat output characterization, test and tracking control. In ACC 2015 - 2015 American Control Conference (Vol. 2015-July, pp. 3898-3904). [7171938] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2015.7171938