Flat inputs in the MIMO case
نویسندگان
چکیده
We extend the notion of flat inputs, which we previously introduced in the SISO case, towards non-linear MIMO systems. For MIMO systems, we have to distinguish two cases for differential flatness, corresponding to feedback-linearizability either by a static or a quasistatic feedback. For the first case, the construction of flat inputs can be solved easily by means of the observability codistribution and indices. The second case remains an open problem, and we illustrate with an example that flat inputs can even be constructed for non-observable systems. In addition, we also discuss the problem of realizing flat inputs as physical actuators in mechanical systems. Copyright c © 2010 IFAC.
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