27 citations
8 papers
Flatness Analysis for the Sampled-data Model of a Single Mast Stacker Crane
Johannes Diwold, Bernd Kolar, Markus Schöberl
We show that the Euler-discretization of the nonlinear continuous-time model of a single mast stacker crane is flat. The construction of the flat output is based on a transformatio…
A Flat System Possessing no (x,u)-Flat Output
Conrad Gstöttner, Bernd Kolar, Markus Schöberl
In general, flat outputs of a nonlinear system may depend on the system's state and input as well as on an arbitrary number of time derivatives of the latter. If a flat output whic…
Discrete-time Flatness-based Controller Design using an Implicit Euler-discretization
Johannes Diwold, Bernd Kolar, Markus Schöberl
In this contribution, we present a constructive method to derive flat sampled-data models for continuous-time flat systems through an implicit Euler-discretization. We show how the…
On the Exact Linearization and Control of Flat Discrete-time Systems
Bernd Kolar, Johannes Diwold, Conrad Gstöttner +1
The paper addresses the exact linearization of flat nonlinear discrete-time systems by generalized static or dynamic feedbacks which may also depend on forward-shifts of the new in…
Discrete-time Flatness-based Control of a Gantry Crane
Johannes Diwold, Bernd Kolar, Markus Schöberl
This article addresses the design of a discrete-time flatness-based tracking control for a gantry crane and demonstrates the practical applicability of the approach by measurement…
Necessary and Sufficient Conditions for the Linearizability of Two-Input Systems by a Two-Dimensional Endogenous Dynamic Feedback
Conrad Gstöttner, Bernd Kolar, Markus Schöberl
We propose easily verifiable necessary and sufficient conditions for the linearizability of two-input systems by an endogenous dynamic feedback with a dimension of at most two.