Polynomial controller design based on flatness

Frédéric Rotella (1) , Francisco Javier Carrillo (1) , Mounir Ayadi (1)

1 LGP - Laboratoire Génie de Production

By the use of flatness the problem of pole placement, which consists in imposing closed loop system dynamics can be related to tracking. Polynomial controllers for finite-dimensional linear systems can then be designed with very natural choices for high level parameters design. This design leads to a Bezout equation which is independent of the closed loop dynamics but depends only on the system model.

Mots clés: Flatness; Two-degrees-of-freedom controllers; Linear systems; Polynomial controllers

Domaines: Automatique / Robotique

Frédéric Rotella, Francisco Javier Carrillo, Mounir Ayadi. Polynomial controller design based on flatness. IFAC-PapersOnLine, 2001, 34 (13), pp.213-218. ⟨10.1016/S1474-6670(17)38992-9⟩. ⟨hal-03467825⟩