An Extension of Flatness-Based Control for Nonlinear Systems to Non-Flat Systems by using Fictitious Control Inputs

Klaus Schmidt

Abstract

This talk concerns a new concept for synthesising feedforward and feedback control for non-flat nonlinear systems within a flatness-based framework. As background, flatness-based tracking-control for nonlinear systems will be first introduced. This approach for controlling nonlinear systems on the one hand involves a kind of system inversion for computing the control input needed for tracking a desired trajectory, leading to feedforward control and on the other hand provides feedback control for the tracking error, resulting in a linear error dynamics. This approach is then extended to non-flat systems by adding fictitious inputs to the system equations and thus making the system flat. Now flatness-based-control-synthesis can again be applied, whereby in this case additional differential equations have to be solved due to the non-flatness of the system. The method will be illustrated by an example.

 

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