On the computation of flat outputs for nonlinear control systems
On the computation of flat outputs for nonlinear control systems
复制标题
非线性控制系统平坦输出的计算
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
K. Röbenack
中科院分区：
文献类型：
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作者：
M. Franke;K. Röbenack
本文提出了一种系统计算非线性控制系统平坦输出的简单方法。在系统方程的符号线性化之后，确定了所谓的切平坦输出。为此，给出了一种基于零空间和广义逆计算的新算法。如果满足一定的可积性条件，非线性系统的平坦输出可以通过积分来确定。计算实例详细说明了该过程。
A simple procedure for the systematic computation of flat outputs for nonlinear control systems is presented. After symbolic linearization of the system equations, a so-called tangent flat output is determined. For this purpose, a new algorithm which is based on the calculation of nullspaces and generalized inverses is given. If some integrability conditions are satisfied, the flat output of the nonlinear system can be determined by integration. The procedure is illustrated in detail by computational examples.