40 citations · 165 across the 25 of their papers we have counts for
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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…
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…
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…
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…