An introduction to differentially flat systems

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An introduction to differentially flat systems, par Jean Levine
Exposé donné au Holon Institute of Technology, Israël.


The notion of differentially flat (or shortly flat) system concerns a particular class of nonlinear systems often encountered in practice. It has been introduced in the early 90's by Michel Fliess, Philippe Martin, Pierre Rouchon and the author, and has shown to be most useful in motion planning and tracking of nonlinear systems. In this presentation, we recall the basics of this theory and present applications to robotics and aircraft control.