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dc.contributor.authorFranch Bullich, Jaume
dc.contributor.authorManzanera, Ana
dc.contributor.authorValero, Gemma
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Matemàtica Aplicada IV
dc.identifier.citationFranch, 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.description.abstractThis 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.extent6 p.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.otherControl theory
dc.subject.otherDifferential equations
dc.subject.otherState space methods
dc.subject.otherSystem theory Control laws
dc.subject.otherDifferential flatness
dc.subject.otherFeedback laws
dc.subject.otherInitial conditions
dc.subject.otherNormal form
dc.subject.otherPoint to point
dc.subject.otherState space equation
dc.subject.otherState space form
dc.titleOn computing flat outputs through Goursat normal form
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Control theory
dc.rights.accessRestricted access - publisher's policy
dc.description.versionPostprint (published version)
local.citation.authorFranch, J.; Manzanera, A.; Valero, G.
local.citation.contributorEuropean Control Conference
local.citation.publicationName2014 European Control Conference : Proceedings

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