A geometrical characterization of a class of $0$-flat affine dynamical systems

S. Bououden 1 D. Boutat 1 Jean-Pierre Barbot 2, 3 Frédéric Kratz 1
2 ALIEN - Algebra for Digital Identification and Estimation
Inria Lille - Nord Europe, Inria Saclay - Ile de France, Ecole Centrale de Lille, X - École polytechnique, CNRS - Centre National de la Recherche Scientifique : UMR8146
Abstract : This paper gives a description of a class of $0$-flat dynamical systems. This class is characterized by the involutivity of a distribution associated naturally to multi-output affine dynamical systems and the Lie bracket of some control vector fields fulfilling some conditions. We will also show that these conditions are a generalization of the well-known result on $0$-flatness of codimension $1$ affine systems.
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S. Bououden, D. Boutat, Jean-Pierre Barbot, Frédéric Kratz. A geometrical characterization of a class of $0$-flat affine dynamical systems. IEEE ACC, IEEE, Jun 2009, Saint Louis, Missouri, United States. ⟨inria-00408226⟩

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