40 citations · 165 across the 25 of their papers we have counts for
28 papers
On the Stability Analysis of Infinite-Dimensional Port-Hamiltonian Systems Within the Variational Framework
Moritz Leitner, Lukas Ecker, Markus Schöberl
This paper addresses the stability analysis of a class of linear infinite-dimensional port-Hamiltonian systems formulated within the variational framework. We derive verifiable con…
Flatness-Based Controller Design for Backward-Flat Systems
Johannes Schrotshamer, Bernd Kolar, Markus Schöberl
This paper addresses the design of flatness-based tracking controllers for backward-flat nonlinear discrete-time systems. First, we show that backward-flat discrete-time systems ca…
On the Exact Linearization of Multi-Input Discrete-Time Flat Systems
Johannes Schrotshamer, Bernd Kolar, Markus Schöberl
In this contribution, we address the exact linearization of forward- and backward-flat discrete-time nonlinear systems with an arbitrary number of inputs. Building on structural pr…
A Dual Geometric Test for Forward-Flatness
Bernd Kolar, Johannes Schrotshamer, Markus Schöberl
Forward-flatness is a generalization of static feedback linearizability and a special case of a more general flatness concept for discrete-time systems. Recently, it has been shown…
A Triangular Normal Form for x-Flat Control-Affine Two-Input Systems
Conrad Gstöttner, Bernd Kolar, Markus Schöberl
This paper is devoted to normal forms for x-flat control-affine systems with two inputs. We propose a general triangular normal form which contains several other normal forms discu…
On the Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Systems in Generalized State Representation
Georg Hartl, Conrad Gstöttner, Bernd Kolar +1
In this paper, we examine the exact linearization of configuration flat Lagrangian control systems in generalized state representation with p degrees of freedom and p-1 control inp…
Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Control Systems by Quasi-Static Feedback of Classical States
Georg Hartl, Conrad Gstöttner, Bernd Kolar +1
We study the exact linearization of configuration flat Lagrangian control systems with p degrees of freedom and p-1 inputs by quasi-static feedback of classical states. First, we p…
Data-driven control and transfer learning using neural canonical control structures*
Lukas Ecker, Markus Schöberl
An indirect data-driven control and transfer learning approach based on a data-driven feedback linearization with neural canonical control structures is proposed. An artificial neu…
Discrete-time Flatness and Linearization along Trajectories
Bernd Kolar, Johannes Diwold, Conrad Gstöttner +1
The paper studies the relation between a nonlinear time-varying flat discrete-time system and the corresponding linear time-varying systems which are obtained by a linearization al…
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…
Tracking Control for -Flat Systems by Quasi-Static Feedback of Classical States
Conrad Gstöttner, Bernd Kolar, Markus Schöberl
It is well known that for flat systems the tracking control problem can be solved by utilizing a linearizing quasi-static feedback of generalized states. If measurements (or estima…
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…
Energy-based Control and Observer Design for higher-order infinite-dimensional Port-Hamiltonian Systems
Tobias Malzer, Lukas Ecker, Markus Schöberl
In this paper, we present a control-design method based on the energy-Casimir method for infinite-dimensional, boundary-actuated port-Hamiltonian systems with two-dimensional spati…
A Finite Test for the Linearizability of Two-Input Systems by a Two-Dimensional Endogenous Dynamic Feedback
Conrad Gstöttner, Bernd Kolar, Markus Schöberl
We propose an algorithmic test to check whether a two-input system is linearizable by an endogenous dynamic feedback with a dimension of at most two. This test furthermore provides…
A Structurally Flat Triangular Form Based on the Extended Chained Form
Conrad Gstöttner, Bernd Kolar, Markus Schöberl
In this paper, we present a structurally flat triangular form which is based on the extended chained form. We provide a complete geometric characterization of the proposed triangul…
Linearized Controllability Analysis of Semilinear Partial Differential Equations
Bernd Kolar, Markus Schöberl
It is well-known that the controllability of finite-dimensional nonlinear systems can be established by showing the controllability of the linearized system. However, this classica…
Energy-Based In-Domain Control and Observer Design for Infinite-Dimensional Port-Hamiltonian Systems
Tobias Malzer, Jesús Toledo, Yann Le Gorrec +1
In this paper, we consider infinite-dimensional port-Hamiltonian systems with in-domain actuation by means of an approach based on Stokes-Dirac structures as well as in a framework…
On a Flat Triangular Form Based on the Extended Chained Form
Conrad Gstöttner, Bernd Kolar, Markus Schöberl
In this paper, we present a structurally flat triangular form which is based on the extended chained form. We provide necessary and sufficient conditions for an affine input system…
Differential-Geometric Decomposition of Flat Nonlinear Discrete-Time Systems
Bernd Kolar, Markus Schöberl, Johannes Diwold
We prove that every flat nonlinear discrete-time system can be decomposed by coordinate transformations into a smaller-dimensional subsystem and an endogenous dynamic feedback. For…
On the Calculation of Differential Parametrizations for the Feedforward Control of an Euler-Bernoulli Beam
Bernd Kolar, Nicole Gehring, Markus Schöberl
This contribution is concerned with the motion planning for underactuated Euler-Bernoulli beams. The design of the feedforward control is based on a differential parametrization of…
Energy-Based Control of Nonlinear Infinite-Dimensional Port-Hamiltonian Systems with Dissipation
Tobias Malzer, Hubert Rams, Markus Schöberl
In this paper, we consider nonlinear PDEs in a port-Hamiltonian setting based on an underlying jet-bundle structure. We restrict ourselves to systems with 1-dimensional spatial dom…