Control of flat systems by quasi-static feedback of generalized states

Abstract

Generalized states, the state representations of which depend on time derivatives of the input, are naturally used in the control design for flat systems. Quasi-static feedback of these generalized states, which involves time derivatives of the closedloop input, is shown to allow control of all flat systems by feedback linearization of the tracking error dynamics. This is then used in a method proposed for the analysis and design by subsystems of certain flat series connections. The results are illustrated on a gantry crane example.