Some remarks concerning differential flatness and tangent systems



The flatness properties of a nonlinear dynamical control system are completely characterized by its tangent approximation. The flat output of the nonlinear system can be obtained (at least from a theoretical point of view) by solving an integrability problem for the flat outputs of the tangent system. In the present contribution, this approach is used to easily obtain flatness conditions for two special classes of systems, namely systems with one input and systems with one input less than states. (© 2012 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)