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Contributions to flatness‐based control of systems with input‐dependent delays
Author(s) -
Rudolph J.,
Winkler J.
Publication year - 2003
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200310038
Subject(s) - flatness (cosmology) , control theory (sociology) , nonlinear system , amplitude , constant (computer programming) , control system , transformation (genetics) , mathematics , computer science , control (management) , engineering , physics , biochemistry , chemistry , cosmology , quantum mechanics , artificial intelligence , electrical engineering , gene , programming language
Flatness‐based control of nonlinear systems has been generalized in [1] to systems with time‐delays of constant amplitude. Continuous stirred tank chemical reactors with recycle provide examples of such systems. However, if the volume flow‐rate in the recycle is used as control input the time delay depends on control. This can be avoided by a proper choice of the independent variable, i.e., time transformation: Transported volume is used instead of time. This leads to systems with a time delay of constant amplitude belonging to a class of systems which can be called a generalized type of π‐flat systems [2], barely studied so far. Motion planning and tracking control can be achieved by flatness‐based methods.