科研之友
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摘要
In case of linear systems, differential flatness is equivalent to the property of controllability such that it can be checked more easily than for nonlinear systems. This contribution focusses on linear SISO systems and it is shown how the differential flatness can be applied for trajectory planning, feedforward design, and tracking control synthesis in the coordinates of the controller normal form. The practical relevance of tracking feedforward and feedback control and the simple and intuitive methodology of linear flatness are convincing arguments for including this topic in the education of automatic control
- 出版日期2010
