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math.DS2025
A Flat Triangular Structure Based on a Multi-Chained Form
Georg Hartl, Conrad Gstöttner, Markus Schöberl
Determining whether a nonlinear multi-input system is differentially flat remains challenging. One way to obtain computationally tractable sufficient conditions is to give complete…
math.DS2025
On Triangular Forms for x-Flat Control-Affine Systems With Two Inputs
Georg Hartl, Conrad Gstöttner, Markus Schöberl
This paper examines a broadly applicable triangular normal form for x-flat control-affine systems with two inputs. First, we show that this triangular form encompasses a wide range…