Flatness of two-input control-affine systems linearizable via a two-fold prolongation

Abstract : We study flatness of two-input control-affine systems, defined on an n-dimensional state-space. We give a geometric characterization of systems that become static feedback linearizable after a two-fold prolongation of a suitably chosen control. They form a particular class of flat systems: they are of differential weight n + 4. We present a normal form compatible with the minimal flat outputs.
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Florentina Nicolau, Witold Respondek. Flatness of two-input control-affine systems linearizable via a two-fold prolongation. 55th IEEE Conference on Decision and Control, Dec 2016, Las Vegas, United States. ⟨hal-01351615⟩

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