A Structurally Flat Triangular Form Based on the Extended Chained Form

TL;DR

This paper introduces a new structurally flat triangular form derived from the extended chained form, providing geometric characterization and conditions for affine input systems to be flat and feedback equivalent.

Contribution

It presents a novel triangular form based on the extended chained form with geometric characterization and conditions for flatness of affine input systems.

Findings

Provides necessary and sufficient conditions for feedback equivalence.

Offers a geometric characterization of the triangular form.

Establishes a sufficient condition for system flatness.

Abstract

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 triangular form in terms of necessary and sufficient conditions for an affine input system with two inputs to be static feedback equivalent to this triangular form. This yields a sufficient condition for an affine input system to be flat.