6. Highlighting the platitude
One of the tricky aspects of flatness control lies in the identification of the flatness property and the proposal of a flat output. Although in most practical cases the flat output is physically interpretable, there are cases where it is not obvious to have intuition for a candidate flat output. For systems described by nonlinear differential equations, we'll look at some of the criteria that can be used to come to a conclusion on this point, and at procedures that can help guide the choice of a flat output.
6.1 Platitude and accessibility
Although, in general, a nonlinear system can be controllable without being flat, we have just seen that these two notions are equivalent in the linear case. In some cases, this strong relationship is still preserved. However,...
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Highlighting the platitude
Non-flat systems
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