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Controllability and Flatness

In: Nonlinear Systems and Controls

Author

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  • Jürgen Adamy

    (Technische Universität Darmstadt, Institut für Automatisierungstechnik)

Abstract

Chapter 3 of the book Nonlinear Systems and Controls deals with the controllability of nonlinear systems. Various controllability concepts are described and their practical meaning is illustrated. This chapter also includes a section on flat systems and the concept of flatness, which is related to controllability. The chapter concludes with a discussion of nonlinear state space transformations. Real-world examples such as an industrial robot and a VTOL aircraft illustrate the theory. Exercises, including many with a practical background, give students the opportunity to deepen their knowledge.

Suggested Citation

  • Jürgen Adamy, 2022. "Controllability and Flatness," Springer Books, in: Nonlinear Systems and Controls, chapter 0, pages 205-282, Springer.
    • Handle: RePEc:spr:sprchp:978-3-662-65633-4_3
    DOI: 10.1007/978-3-662-65633-4_3
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