ABSTRACT

In this paper, we present a structurally flat triangular form which is based on the extended chained form. We provide a complete geometric characterisation of the proposed triangular form in terms of necessary and sufficient conditions for an affine input system with two inputs to be static feedback equivalent to this triangular form. This yields a sufficient condition for an affine input system to be flat.

中文翻译：

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基于扩展链式的结构扁平三角形

摘要

在本文中，我们提出了一种基于扩展链式的结构扁平三角形。我们根据必要和充分条件提供了所提出的三角形形式的完整几何特征，用于具有两个输入的仿射输入系统是等效于该三角形形式的静态反馈。这产生了仿射输入系统平坦的充分条件。