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Construction of Flat Outputs of Nonlinear Discrete-Time Systems in a Geometric and an Algebraic Framework

2016; Elsevier BV; Volume: 49; Issue: 18 Linguagem: Inglês

10.1016/j.ifacol.2016.10.263

2405-8971

Bernd Kolar, Arvo Kaldmäe, Markus Schöberl, Ülle Kotta, Kurt Schlacher,

Dynamics and Control of Mechanical Systems

This paper introduces a method for the construction of fiat outputs of nonlinear discrete-time systems which is based on the idea of finding state- and input transformations which split the system into a smaller-dimensional subsystem and an endogenous dynamic feedback. If such a transformation exists, the complete system is flat if and only if the subsystem is flat, and thus in the next step we can proceed with the smaller-dimensional subsystem. We show how to find the appropriate coordinate transformations in a geometric and an algebraic framework, which are both well-established for the analysis of discrete-time systems.