1. Context

In order to intuitively understand the notion of flatness, let's consider a manipulator robot described by the dynamic model in joint variables q (t ) :

H (q (t)) \overset{}{q}

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page Platitude-based system control

Platitude of a model

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References

(1) - FLIESS (M.), LÉVINE (J.), MARTIN (P.), ROUCHON (P.) - Sur les systèmes non linéaires différentiellement plats. - C. R. Acad. Sciences, vol. 315, série 1, p. 619-24 (1992).
(2) - FLIESS (M.), LÉVINE (J.), MARTIN (P.), ROUCHON (P.) - Flatness and defect of nonlinear...

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