A structurally flat triangular form is introduced for x-flat three-input systems, with necessary and sufficient conditions for static feedback equivalence and sufficient conditions after input prolongations.
Flatness and defect of non-linear systems: introductory theory and examples
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Derives closed-form costate and explicit feedback for optimal tracking in driftless x-flat systems under quadratic Bolza cost.
Sufficient conditions are given that guarantee input prolongations render three-input flat systems static feedback linearizable, extending prior two-input results.
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A Structurally Flat Triangular Form for Three-Input Systems
A structurally flat triangular form is introduced for x-flat three-input systems, with necessary and sufficient conditions for static feedback equivalence and sufficient conditions after input prolongations.