Flatness-based control : an introduction

Abstract

Flatness-based control is a powerful model-based nonlinear control method that has also found its way into demanding industrial applications. The example-based presentation of this introduction establishes the fundamentals of the method using only basic mathematical tools and without much prerequisites from linear control theory. It serves as notes for the author's courses on the subject after more than 20 years of teaching it at several universities in different countries.