Differentially Flat Systems

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Differential-Flatness-Based Planning and Control of a Wheeled Mobile Manipulator—Theory and Experiment (2011, background): “[ 5 ] Y.-L. Yang, P. C. P. Chao, and C.-K.”
Model-free control (2013, background): “…y ∗ might lead, as well known, to severe diﬃculties with non-minimum phase systems: see, e.g., Fliess & Marquez (2000); Fliess, Sira-Ram´ırez & Marquez (1998); Sira-Ram´ırez & Agrawal (2004) from a ﬂatness-based viewpoint (Fliess, L´evine, Martin & Rouchon (1995); Sira-Ram´ırez & Agrawal (2004)).”
Stability of active disturbance rejection control for uncertain systems: A Lyapunov perspective (2017, background): “This system is described by the following set of normalized differential equations ([37]):”
Robust Nonlinear Adaptive Control of a “Boost” Converter via Algebraic Parameter Identification (2014, background): “The average system model (3) and (4) is flat (see [4] and also [23]), with flat, or linearizing, output given by a smooth function y = h(x) represented by a suitable modification of the average total stored energy”
A revised look at numerical differentiation with an application to nonlinear feedback control (2007, neutral): “This system, which is linearizable by static state feedback, is ﬂat (cf. [ 12], [22]); y = θ l is a ﬂat output, which is measured.”