两输入系统的平坦性和Monge参数化，控制仿射4状态或一般3状态
Flatness and Monge parameterization of two-input systems, control-affine with 4 states or general with 3 states
摘要：
本文研究具有四个状态和两个控制的控制仿射系统的Monge参数化或微分平坦性。其中一些是平坦的，这意味着承认蒙日参数化。专注于系统之外的这类，我们描述了唯一可能的结构，这样的参数化这些系统，并给出了一个下界的顺序，这个参数化，如果它存在。这个下界足够好，可以用更初等的技巧恢复已知的关于这类系统的“（x，u）-平坦性”的结果。
英文摘要：
This paper studies Monge parameterization, or differential flatness, of control-affine systems with four states and twocontrols. Some of them are known to be flat, and this implies admitting a Monge parameterization. Focusing on systems outside this class, we describe the only possible structure of such a parameterization for these systems, and give a lower bound on the order of this parameterization, if it exists. This lower-bound is good enough to recover the known results about "(x,u)-flatness" of these systems, with much more elementary techniques.
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