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Discrete-time Flatness-based Controller Design using an Implicit Euler-discretization

Johannes Diwold, Bernd Kolar, Markus Schöberl

TL;DR

This contribution presents a constructive method to derive flat sampled- data models for continuous-time flat systems through an implicit Euler-discretization and shows how the sampled-data model can be used subsequently for a flatness-based controller design.

Abstract

In this contribution, we present a constructive method to derive flat sampled-data models for continuous-time flat systems through an implicit Euler-discretization. We show how the sampled-data model can be used subsequently for a flatness-based controller design, and illustrate our results with the well-known planar VTOL aircraft example.

Discrete-time Flatness-based Controller Design using an Implicit Euler-discretization

TL;DR

This contribution presents a constructive method to derive flat sampled- data models for continuous-time flat systems through an implicit Euler-discretization and shows how the sampled-data model can be used subsequently for a flatness-based controller design.

Abstract

In this contribution, we present a constructive method to derive flat sampled-data models for continuous-time flat systems through an implicit Euler-discretization. We show how the sampled-data model can be used subsequently for a flatness-based controller design, and illustrate our results with the well-known planar VTOL aircraft example.
Paper Structure (9 sections, 50 equations, 1 figure)

This paper contains 9 sections, 50 equations, 1 figure.

Table of Contents

  1. Introduction
  2. Flatness of Discrete-time Systems
  3. Implicit Euler-Discretization and Controller Design
  4. Explicit and Implicit Euler-Discretization
  5. Implicit Euler-discretization of Triangular Forms
  6. State- and Input Transformations
  7. Controller Design via Dynamic Feedback Linearization
  8. Practical Example
  9. Conclusion

Figures (1)

  • Figure 1: Tracking performance planar VTOL aircraft.