17 citations · 36 across the 12 of their papers we have counts for
12 papers
Analytic Optimal Control for a Class of Driftless x-Flat Systems
Raphael Buchinger, Georg Hartl, Lukas Ecker +1
This paper studies optimal trajectory-tracking for driftless, x-flat nonlinear systems with three states and two inputs. The tracking problem is formulated in Bolza form with a qua…
A Structurally Flat Triangular Form for Three-Input Systems
Georg Hartl, Conrad Gstöttner, Markus Schöberl
We present a broadly applicable structurally flat triangular form for x-flat control-affine systems with three inputs. Building on recent results for the derivative structure of fl…
On the Linearization of Flat Multi-Input Systems via Prolongations
Georg Hartl, Conrad Gstöttner, Markus Schöberl
We examine when differentially flat nonlinear control systems with more than two inputs can be rendered static feedback linearizable by a minimal number of prolongations of suitabl…
Testing Backward-Flatness of Nonlinear Discrete-Time Systems
Johannes Schrotshamer, Bernd Kolar, Markus Schöberl
Despite ongoing research, testing the flatness of discrete-time systems remains a challenging problem. To date, only the property of forward-flatness - a special case of difference…
Duality of Geometric Tests for Forward-Flatness
Johannes Schrotshamer, Bernd Kolar, Markus Schöberl
Recently it has been shown that the property of forward-flatness for discrete-time systems, which is a generalization of static feedback linearizability and a special case of a mor…
A Normal Form for Two-Input Flat Nonlinear Discrete-Time Systems
Johannes Diwold, Bernd Kolar, Markus Schöberl
We show that every flat nonlinear discrete-time system with two inputs can be transformed into a structurally flat normal form by state- and input transformations. This normal form…
On the Linearization of Flat Two-Input Systems by Prolongations and Applications to Control Design
Conrad Gstöttner, Bernd Kolar, Markus Schöberl
In this paper we consider -flat nonlinear control systems with two inputs, and show that every such system can be rendered static feedback linearizable by prolongations of a…
On Structural Invariants in the Energy-Based Control of Infinite-Dimensional Port-Hamiltonian Systems with In-Domain Actuation
Tobias Malzer, Hubert Rams, Markus Schöberl
This contribution deals with energy-based in-domain control of systems governed by partial differential equations with spatial domain up to dimension two. We exploit a port-Hamilto…
System-theoretic Analysis of Nonlinear Infinite-dimensional Systems with Generalized Symmetries
Bernd Kolar, Markus Schöberl
Symmetry groups allow to transform solutions of differential equations continuously into other solutions. This property can be used for the observability analysis of infinite-dimen…
Energy-Based In-Domain Control of a Piezo-Actuated Euler-Bernoulli Beam
Tobias Malzer, Hubert Rams, Markus Schöberl
The main contribution of this paper is the extension of the well-known boundary-control strategy based on structural invariants to the control of infinite-dimensional systems with…
Application of Symmetry Groups to the Observability Analysis of Partial Differential Equations
Bernd Kolar, Hubert Rams, Markus Schöberl
Symmetry groups of PDEs allow to transform solutions continuously into other solutions. In this paper, we use this property for the observability analysis of nonlinear PDEs with in…
Analysis and Comparison of Port-Hamiltonian Formulations for Field Theories - demonstrated by means of the Mindlin plate
Markus Schöberl, Andreas Siuka
This paper focuses on the port-Hamiltonian formulation of systems described by partial differential equations. Based on a variational principle we derive the equations of motion as…