M. Fliess, J. Lévine, P. Martin, R. , and P. , Flatness and defect of non-linear systems: introductory theory and examples, International Journal of Control, issue.6, pp.1327-1361, 1995.

F. Daerden and D. Lefeber, Pneumatic artificial muscles: actuators for robotics and automation, European journal of mechanical and environmental engineering, vol.47, issue.1, pp.11-21, 2002.

W. Shen and G. Shi, An enhanced static mathematical model of braided fibre-reinforced pneumatic artificial muscles, Proceedings of the Institution of Mechanical Engineers, vol.225, pp.212-225, 2011.

D. Ba, T. Dinh, A. , and K. , An integrated intelligent nonlinear control method for a pneumatic artificial muscle, IEEE/ASME Transactions on Mechatronics, vol.21, issue.4, pp.1835-1845, 2016.

X. Zhu, G. Tao, B. Yao, and J. Cao, Adaptive robust posture control of parallel manipulator driven by pneumatic muscles with redundancy, IEEE/ASME Transactions on Mechatronics, vol.13, issue.4, pp.441-450, 2008.

H. Aschemann and D. Schindele, Slidingmode control of a high-speed linear axis driven by pneumatic muscle actuators, IEEE Transactions on Industrial Electronics, vol.55, issue.11, pp.3855-3864, 2008.

D. Cai and Y. Dai, A sliding mode controller for manipulator driven by artificial muscle actuator, Proceedings of the 2000 IEEE International Conference on Control Applications, pp.668-673, 2000.

X. Shen, Nonlinear model-based control of pneumatic artificial muscle servo systems, Control Engineering Practice, vol.18, issue.3, pp.311-317, 2010.

K. Ahn, A. , and H. , A new approach for modelling and identification of the pneumatic artificial muscle manipulator based on recurrent neural networks, Proceedings of the Institution of Mechanical Engineers, vol.221, pp.1101-1121, 2007.

G. Shi and W. Shen, Hybrid control of a parallel platform based on pneumatic artificial muscles combining sliding mode controller and adaptive fuzzy CMAC, Control Engineering Practice, vol.1, issue.1, pp.76-86, 2013.

R. Robinson, C. Kothera, R. Sanner, and N. Wereley, Nonlinear control of robotic manipulators driven by pneumatic artificial muscles, IEEE/ASME Transactions on Mechatronics, vol.21, issue.1, pp.55-68, 2016.

R. Rahman and N. Sepehri, Design and experimental evaluation of a dynamical adaptive backstepping-sliding mode control scheme for positioning of an antagonistically paired pneumatic artificial muscles driven actuating system, International Journal of Control, pp.1-26, 2016.

C. Chou and B. Hannaford, Measurement and modeling of McKibben pneumatic artificial muscles, IEEE Transactions on Robotics and Automation, vol.12, issue.1, pp.90-102, 1996.

B. Tondu and P. Lopez, Modeling and control of McKibben artificial muscle robot actuators, Control Systems, vol.20, issue.2, pp.15-38, 2000.

S. Sermeno-mena, S. Sesmat, and E. Bideaux, Parallel manipulator driven by pneumatic muscles, 8th International Conference on Fluid Power (8th IFK), 2012.

D. Schindele, A. , and H. , Modelbased compensation of hysteresis in the force characteristic of pneumatic muscles, 12th IEEE International Workshop on, pp.1-6, 2012.

D. Bou-saba, E. Bideaux, X. Brun, and P. Massioni, A complete model of a two degree of freedom platform actuated by three pneumatic muscles elaborated for control synthesis, BATH/ASME 2016 Symposium on Fluid Power and Motion Control
URL : https://hal.archives-ouvertes.fr/hal-01400091

O. Olaby, X. Brun, S. Sesmat, T. Redarce, and E. Bideaux, Characterization and modeling of a proportional valve for control synthesis, Proceedings of the JFPS International Symposium on Fluid Power, pp.771-776, 2005.
URL : https://hal.archives-ouvertes.fr/hal-02063811

P. Rouchon, Flatness based control of oscillators, ZAMM-Journal of Applied Mathematics and Mechanics/Zeitschrift für Angewandte Mathematik und Mechanik, vol.85, issue.6, pp.411-421, 2005.

P. Martin, R. M. Murray, R. , and P. , Flat systems, equivalence and trajectory generation, 2003.
URL : https://hal.archives-ouvertes.fr/cel-00392180

P. Rouchon, M. Fliess, J. Lévine, M. , and P. , Flatness, motion planning and trailer systems, Proceedings of the 32nd IEEE Conference on, pp.2700-2705, 1993.
DOI : 10.1109/cdc.1993.325686

URL : http://cas.ensmp.fr/~rouchon/publications/PR1993/CDC93.pdf

J. Lévine and D. Nguyen, Flat output characterization for linear systems using polynomial matrices, Systems & control letters, vol.48, issue.1, pp.69-75, 2003.

A. Isidori, Nonlinear control systems, 2013.