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math.DS2024★ 2 cited
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…
math.DS2024★ 2 cited
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…