dc.contributor.author Franch Bullich, Jaume dc.contributor.author Manzanera, Ana dc.contributor.author Valero, Gemma dc.contributor.other Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada IV dc.date.accessioned 2015-05-20T17:10:42Z dc.date.created 2014 dc.date.issued 2014 dc.identifier.citation Franch, J.; Manzanera, A.; Valero, G. On computing flat outputs through Goursat normal form. A: European Control Conference. "2014 European Control Conference : Proceedings". Strasbourg: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 2436-2441. dc.identifier.isbn 978-3-9524269-1-3 dc.identifier.uri http://hdl.handle.net/2117/27990 dc.description.abstract This paper is devoted to computation of flat outputs by means of the Goursat normal form of the Pfaffian system associated to any control system in state space form. The algorithm explained here consists in three steps: i) Transformation of the system into its Pfaffian equivalent. ii) Computation of the Goursat normal form for the Pfaffian system. iii) Rewriting of the state space equations in the new variables. At this stage, a feedback law simplifies the equations and, therefore, the flat outputs can be easily computed. As an example, the algorithm is applied to a system consisting in a car with expanding wheels. Point to point trajectories are obtained thanks to the property of differential flatness. The paper also includes a control law that minimizes errors in the initial conditions. dc.format.extent 6 p. dc.language.iso eng dc.publisher Institute of Electrical and Electronics Engineers (IEEE) dc.rights Attribution-NonCommercial-NoDerivs 3.0 Spain dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/3.0/es/ dc.subject Àrees temàtiques de la UPC::Informàtica::Automàtica i control dc.subject.other Control theory dc.subject.other Differential equations dc.subject.other State space methods dc.subject.other System theory Control laws dc.subject.other Differential flatness dc.subject.other Feedback laws dc.subject.other Initial conditions dc.subject.other Normal form dc.subject.other Point to point dc.subject.other State space equation dc.subject.other State space form dc.title On computing flat outputs through Goursat normal form dc.type Conference report dc.contributor.group Universitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia dc.identifier.doi 10.1109/ECC.2014.6862192 dc.description.peerreviewed Peer Reviewed dc.subject.inspec Classificació INSPEC::Control theory dc.relation.publisherversion http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6862192 dc.rights.access Restricted access - publisher's policy local.identifier.drac 15388416 dc.description.version Postprint (published version) dc.date.lift 10000-01-01 local.citation.author Franch, J.; Manzanera, A.; Valero, G. local.citation.contributor European Control Conference local.citation.pubplace Strasbourg local.citation.publicationName 2014 European Control Conference : Proceedings local.citation.startingPage 2436 local.citation.endingPage 2441
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