Abstract
We study the problem of looking for flat control systems and flat outputs. A control system is flat if there exists a change of variables transforming this system to thE trivial system: x.=u. The change of variables can be of most general type. In this work, a necessary and sufficient condition for flatness is obtained. We give also a flatness test and a method for constructing the change of variables. An example is considered to illustrate the test and the method.
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