Illustrating the power, simplicity, and generality of the concept of flatness, this reference explains how to identify, utilize, and apply flatness in system planning and design. The book includes a large assortment of exercises and models that range from elementary to complex classes of systems. Leading students and professionals through a vast array of designs, simulations, and analytical studies on the traditional uses of flatness, Differentially Flat Systems contains an extensive amount of examples that showcase the value of flatness in system design, demonstrate how flatness can be assessed in the context of perturbed systems and apply static and dynamic feedback controller design techniques.
Table of Contents
Introduction Linear Time-Invariant SISO Systems Linear Time-Invariant MIMO Systems Time-Varying Linear Systems Discrete-Time Linear Systems Infinite Dimensional Linear Systems SISO Nonlinear Systems Multivariable Nonlinear Systems Mobile Robots Flatness and Optimal Trajectories Optimal Planning with Constraints Non-Differentially Flat Systems