Two flat normal forms for a class of nonlinear dynamical systems

In this paper we presents two new 0-flat normal forms. It deals with sufficient geometrical conditions which enable us to conclude if a given nonlinear controllable dynamical system can be transformed, by means of change of coordinates, to one of these normal forms. In the same way it gives an algorithm to compute the flat outputs. As an illustration to the proposed approach, a trajectory tracking of a planar manipulator robot is simulated. The results obtained are very satisfactory proving the applicability of the method.