Differentially Flat Systems

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.

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