initial implementation of differential flatness module #324
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repagh
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Jun 9, 2020
…l#324) No comments in 7 days, so assuming this is ok (adds optional functionality).
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This PR introduces a new module,
control.flatsys, that can be used to create trajectories for differentially flat systems. This initial release is fairly minimal, supporting point-to-point trajectories for nonlinear systems as well as SISO linear systems. It builds on thecontrol.iosysmodule, allowing differentially flat systems to be simulated, linearized, or composed with other input/output systems.This code is in alpha form, but supports the operations required to implement the trajectory generation examples in FBS Ch 9 (output feedback). An example is included based on the kinematic car model used in FBS.
Documentation and (fairly minimal) unit tests are included.