Implementation of an algorithm for determining differential flat ouputs for nonlinear dynamic systems [1,2]. For further information on how to use this package, see doc/user_guide.pdf.
An example has been implemented in the following IPython Notebook: Gantry crane
[1] M. Franke and K. Röbenack: "On the Computation of Flat Outputs for Nonlinear Control Systems". In European Proc. of the European Control Conference (ECC), Zurich, July 2013, p. 167-172 doi: 10.23919/ECC.2013.6669771
[2] K. Fritzsche, M. Franke, C. Knoll and K. Röbenack: "Zur systematischen Bestimmung flacher Ausgänge nichtlinearer Mehrgrößensysteme". In at - Automatisierungstechnik, 64(12), 2016, pp. 948-960, doi: 10.1515/auto-2016-0079
Make sure you have the following dependencies installed:
- sympy
- numpy
- symbtools
- pycartan
It is recommended to install these using the Python Package Index PyPI::
$ pip install sympy numpy symbtools pycartan
Install uc_algorithm by cloning the repo::
$ git clone https://github.com/klim-/uc_algorithm.git