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Controlling hybrid systems is mostly very challenging due to the variety ofdynamics these systems can exhibit. Inspired by the concept of differentialflatness of nonlinear continuous systems and their inherent invertibilityproperty, the present contribution is focused on explicit input trajectorycalculation. To this end, a new class of hybrid systems called Flat HybridAutomata is introduced as a realisation of deterministic, reachable andexplicitly invertible hybrid automata. Relevant system properties are derived,an approach for construction and for trajectory calculation is proposed and twodemonstrative examples are presented. The results constitute a generalisationof control of invertible hybrid systems which is very useful if, e.g., fastreaction for stabilisation or transitions is relevant.

Flat Hybrid Automata as a Class of Reachable Systems: Introductory Theory and Examples