Kybernetika 38 no. 5, 571-584, 2002

Polynomial controller design based on flatness

Frédéric Rotella, Francisco Javier Carillo and Mounir Ayadi


By the use of flatness the problem of pole placement, which consists in imposing closed loop system dynamics can be related to tracking. Polynomial controllers for finite-dimensional linear systems can then be designed with very natural choices for high level parameters design. This design leads to a Bezout equation which is independent of the closed loop dynamics but depends only on the system model.