English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

We study the exact linearization of configuration flat Lagrangian controlsystems with n degrees of freedom and n-1 inputs by quasi-static feedback ofclassical states. First, we present a detailed analysis of the structure of theparameterization of the system variables by the flat output. Based on that, wesystematically construct a linearizing quasi-static feedback law of theclassical state such that the closed-loop system shows the behavior ofdecoupled integrator chains. Our approach shows that the construction of ageneralized Brunovsk\'y state can be completely circumvented. Furthermore, wepresent all possible lengths of the integrator chains and show that they aredirectly evident from the flat parameterization.

Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Control Systems by Quasi-Static Feedback of Classical States