Trajectory tracking control with flat inputs and a dynamic compensator

Jean Francois Stumper, Ferdinand Svaricek, Ralph Kennel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Scopus citations

Abstract

This paper proposes a tracking controller based on the concept of flat inputs and a dynamic compensator. Flat inputs represent a dual approach to flat outputs. In contrast to conventional flatness-based control design, the regulated output may be a non-flat output, or the system may be non-flat. The method is applicable to observable systems with stable internal dynamics. The performance of the new design is demonstrated on the variable-length pendulum, a non-flat nonlinear system with a singularity in the relative degree.

Original languageEnglish
Title of host publication2009 European Control Conference, ECC 2009
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages248-253
Number of pages6
ISBN (Electronic)9783952417393
DOIs
StatePublished - 26 Mar 2014
Event2009 10th European Control Conference, ECC 2009 - Budapest, Hungary
Duration: 23 Aug 200926 Aug 2009

Publication series

Name2009 European Control Conference, ECC 2009

Conference

Conference2009 10th European Control Conference, ECC 2009
Country/TerritoryHungary
CityBudapest
Period23/08/0926/08/09

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