Abstract
In this paper we consider (x,u)-flat nonlinear control systems with two inputs, and show that every such system can be rendered static feedback linearizable by prolongations of a suitably chosen (new) control. This result is not only of theoretical interest, but has also important implications on the design of flatness based tracking controls. We show that a tracking control based on quasi-static state feedback can always be designed in such a way that only measurements of a (classical) state of the system, and not measurements of a generalized Brunovsky state, as reported in the literature, are required.
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