Conclusion
Flat control system

We have described the various procedures involved in designing a flat control system, and have shown that the use of the second control structure can be applied in many practical situations, and even in some cases of non-flat systems. The first step in a platitude control is to generate the desired trajectory on the flat outputs, the variables used to parameterize all the other variables in the system, i.e. the controls. The result is a nominal command to be applied to the system to obtain the desired behavior. Around these desired trajectories, the second step is to design a closed-loop control system enabling asymptotic tracking of the desired trajectory. This objective can be achieved via one of the two control structures we have indicated in the text, the second having the advantage of reducing the control design to that of a non-stationary linear system.

We...