A normal form for two-input forward-flat nonlinear discrete-time systems

Johannes Diwold, Bernd Kolar and Markus Schöberl

International Journal of Systems Science, 2021, vol. 52, issue 8, 1586-1598

Abstract: We show that every forward-flat nonlinear discrete-time system with two inputs can be transformed into a structurally flat normal form by state- and input transformations. This normal form has a triangular structure and allows to read off the flat output, as well as a systematic construction of the parameterisation of all system variables by the flat output and its forward-shifts. For flat continuous-time systems, no comparable normal form exists.

Date: 2021
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DOI: 10.1080/00207721.2020.1866095

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