Computation of state and input trajectories for flat systems using automatic differentiation

Authors:
Klaus RöBenack;Olaf Vogel
Affiliations:
Institut für Regelungs- und Steuerungstheorie, Fakultät Elektrotechnik und Informationstechnik, Technische Universität Dresden, Mommsenstrasse 13, Dresden 01062, Germany;Institut für Wissenschaftliches Rechnen, Fakultät Mathematik und Naturwissenschaften, Technische Universität Dresden, Mommsenstrasse 13, Dresden 01062, Germany
Venue:
Automatica (Journal of IFAC)
Year:
2004

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Abstract

For path planning and trajectory tracking it is necessary to find an input signal for a given output signal, i.e., it is useful to invert the plants model (system inversion). Up to now, system inversion was practical only for simple systems due to the amount of symbolical computations involved. The inversion of flat state-space systems using automatic differentiation will be discussed.