Flatness-based control of MIMO linear systems

This paper, deals with a control method of linear multi-input multi-output (MIMO) system, developed in order to ensure the tracking of a reference trajectory. The flatness-based controller for studied system allows to solve path planning and path tracking problems. The desired trajectory is designed using the flatness property of controllable system. The flatness concept in path planning is considered when the trajectory is fixed, to determine the control signals to apply in open-loop without integrating any differential equations. The flat output is determined using two different approaches and trajectories are designed for system variables using the DGI filter. The simulation results point out the effectiveness of the developed method.