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A triangular form for flat nonlinear systems with two controls and five or less states
System, Structure and Control, Volume # 3 | Part# 1
Location: Mabu Thermas Convention Center, Brazil
National Organizing Committee Chair: Bazanella, Alexandre Sanfelice
International Program Committee Chair: da Silva Jr., João Manoel Gomes,
Malabre, Michel
Conference Editor: Frigeri, Alceu Heinke,
Pereira, Carlos Eduardo
Authors
Silveira, H. B.; da Silva, P. S. Pereira
Digital Object Identifier (DOI)
10.3182/20071017-3-BR-2923.00020
Page Numbers:
118-123
Index Terms
nonlinear control systems,structural properties,control theory,differential geometric methods,co-ordinate transformations,state feedback
Abstract
This paper shows that, for flat affine time-invariant continuous-time nonlinear systems with two controls and five or less state variables, there exists a smooth change of coordinates and a time-invariant regular static state feedback such that the system is described by a triangular form. The presentation is based on an infinite-dimensional differential geometric approach to nonlinear control systems.
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