Page 61 - Parimad teadustööd 2013/2014

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TALLINNA ÜLIKOOLI ÜLIÕPILASTE 2013/2014. ÕPPEAASTA PARIMAD TEADUSTÖÖD / ARTIKLITE KOgUMIK LOODUSTEADUSED
OMPUTATION OF FLAT OUTPUTS FOR NONLINEAR CONTROL SYSTEMS WITH MATHEMATICA
MITTELINEAARSETE JuHTIMISSÜSTEEMIdE LAMEdATE VÄLJuNdITE LEIdMINE PAKETI MATHEMATICA ABIL
Kristina Halturina
Abstract
The article aims to give an overview of implementation of the procedure related to checking the flat- ness property and computation of flat outputs for flat nonlinear control systems in the computer algebra system mathematica. even though the article focuses on discrete-time systems, the developed tools, mentioned in this article, may be applied for both continuous- and discrete-time systems.
Preliminaries
Consider a discrete-time nonlinear system of the form
satisfies generically, i.e. everywhere except on the set of measure zero, conditions rank and rank .
Any explicit system (1) can be represented in an implicit form
by eliminating the control variable , where, again generically rank . Flatness