Abstract
Kuga et al. proposed a control Lyapunov function (CLF) design method for a class of differentially flat systems. We propose a static C∞ differentiable CLF design method for differentially flat systems by connecting local minimum points of a dynamic CLF defined on an augmented space. To show the advantage of our proposed CLF design method, we design a controller for a differentially flat system to which Kuga’s method cannot be applied. Moreover, we confirm the effectiveness of the proposed method by computer simulation.
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