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 ) :
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Context
Context
Platitude of a model
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 systems : introductory theory and examples. - Int....
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