On a Flat Triangular Form Based on the Extended Chained Form

A Structurally Flat Triangular Form Based on the Extended Chained Form

In this paper, we present a structurally flat triangular form which is based on the extended chained form. We provide a complete geometric characterization of the proposed triangular form in terms of necessary and sufficient conditions for an affine input system with two inputs to be static feedback equivalent to this triangular form. This yields a sufficient condition for an affine input system to be flat.

基于多链式形式的平面三角结构

A Flat Triangular Structure Based on a Multi-Chained Form

针对输入数不少于3个的仿射控制系统，本文提出基于多链式形式的结构平坦三角型，给出两类实例的静态反馈等价充要条件，为微分平坦性判定及平坦输出计算提供构造性方法。

On an implicit triangular decomposition of nonlinear control systems that are 1-flat - a constructive approach

We study the problem to provide a triangular form based on implicit differential equations for non-linear multi-input systems with respect to the flatness property. Furthermore, we suggest a constructive method for the transformation of a given system into that special triangular shape, if possible. The well known Brunovsky form, which is applicable with regard to the exact linearization problem, can be seen as special case of this implicit triangular form. A key tool in our investigation will be the construction of Cauchy characteristic vector fields that additionally annihilate certain codis…

x-平的双输入控制仿射系统的三角型正规形

A Triangular Normal Form for x-Flat Control-Affine Two-Input Systems

本文针对双输入x-平控制仿射系统，提出一种涵盖现有多种正规形的通用三角型正规形，推导了系统变换为该形式的条件，并据此给出识别平输出候选的简单算法。

关于具有两个输入的x-平坦控制仿射系统的三角形式

On Triangular Forms for x-Flat Control-Affine Systems With Two Inputs

本文提出了一种适用于具有两个输入的x-平坦控制仿射系统的三角形式，并改进了识别x-平坦输出的算法。

三输入系统的结构平坦三角形形式

A Structurally Flat Triangular Form for Three-Input Systems

本文提出了一种适用于三输入系统的结构平坦三角形形式，通过定义正则条件保证结构平坦性，并推导了系统与该形式静态反馈等价的必要充分条件。