An approximate characterisation of the set of feasible trajectories for constrained flat systems

We study differentially flat systems, subject to constraints on the input, state and their derivatives. are interested in providing an approximate characterisation of set trajectories satisfying both equations system constraints. The flatness property choice a polynomial parametrisation terms Bézier functions enable finite dimension formulation problem parameter space control points. Such provides unified method express large variety relevant constraint types inputs. present simple effective inner approximation aforementioned obtained by algebraic manipulations original formulation. symbolic nature proposed allows certain degree adaptation changes without need for complete re-computation.