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Construction of flat inputs for mechanical systems

Abstract : For observed mechanical systems, we study the problem of constructing flat inputs that are consistent with the mechanical structure of the systems. Such inputs will be called mechanical flat inputs. We show that contrary to flat inputs, that exist (almost) everywhere, in general, for the existence of mechanical flat inputs, additional structural conditions are needed. We provide necessary and sufficient conditions for the existence of mechanical inputs for observed mechanical systems with n degrees of freedom, where n is arbitrary, and n − 1 measurements.
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https://hal.archives-ouvertes.fr/hal-03340187
Contributor : Florentina Nicolau Connect in order to contact the contributor
Submitted on : Friday, September 10, 2021 - 9:39:23 AM
Last modification on : Tuesday, October 19, 2021 - 11:57:00 AM

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  • HAL Id : hal-03340187, version 1

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Florentina Nicolau, Witold Respondek, Jean-Pierre Barbot. Construction of flat inputs for mechanical systems. 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Oct 2021, Berlin, Germany. ⟨hal-03340187⟩

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