A triangular canonical form for a class of 0-flat nonlinear systems

Driss Boutat (1) , Soray Bououden (1) , Driss Boutat (1) , Gang Zheng (2) , Jean-Pierre Barbot (3) , Frédéric Kratz (1)

1 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
2 ALIEN - Algebra for Digital Identification and Estimation
3 ECS - Equipe Commande des Systèmes

This article proposes a triangular canonical form for a class of 0-flat nonlinear systems. Necessary and sufficient geometrical conditions are given in order to guarantee the existence of a local diffeomorphism to transform the studied nonlinear systems into the proposed 0-flat canonical form, which enables us to compute the flat output as well.

Mots clés: Nonlinear systems; normal forms; flatness

Domaines: Automatique; Automatique / Robotique

Driss Boutat, Soray Bououden, Driss Boutat, Gang Zheng, Jean-Pierre Barbot, et al.. A triangular canonical form for a class of 0-flat nonlinear systems. International Journal of Control, 2011, 84 (2), pp.261-269. ⟨10.1080/00207179.2010.549844⟩. ⟨hal-00627655⟩