On the computation of $\pi$-flat outputs for differential-delay systems

Franck Cazaurang (1) , Johannes Middeke (2) , Felix Antritter (3) , Jean Lévine (4)

1 IMS - Laboratoire de l'intégration, du matériau au système
2 RISC - Research Institute for Symbolic Computation
3 Automatisierungs und Regelungstechnik
4 CAS - Centre Automatique et Systèmes

We introduce a new definition of $\pi$-flatness for linear differential delay systems with time-varying coefficients. We characterize $\pi$- and $\pi$-0-flat outputs and provide an algorithm to efficiently compute such outputs. We present an academic example of motion planning to discuss the pertinence of the approach.

Domaines: Optimisation et contrôle [math.OC]

Franck Cazaurang, Johannes Middeke, Felix Antritter, Jean Lévine. On the computation of $\pi$-flat outputs for differential-delay systems. Systems and Control Letters, 2014, 71, pp.14-22. ⟨10.1016/j.sysconle.2014.07.002⟩. ⟨hal-01070189⟩