Numerical Discretization Schemes that Preserve Flatness
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866908653132447744 |
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| author | Jindal, Ashutosh Nicolau, Florentina Diego, David Martin Banavar, Ravi |
| author_facet | Jindal, Ashutosh Nicolau, Florentina Diego, David Martin Banavar, Ravi |
| contents | Differential flatness serves as a powerful tool for controlling continuous time nonlinear systems in problems such as motion planning and trajectory tracking. A similar notion, called difference flatness, exists for discrete-time systems. Although many control systems evolve in continuous time, control implementation is performed digitally, requiring discretization. It is well known in the literature that discretization does not necessarily preserve structural properties, and it has been established that, in general, flatness is not preserved under discretization (whether exact or approximate). In this paper, inspired by our previous work [1] and based on the notion of discretization maps, we construct numerical schemes that preserve flatness. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_11183 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Numerical Discretization Schemes that Preserve Flatness Jindal, Ashutosh Nicolau, Florentina Diego, David Martin Banavar, Ravi Systems and Control Differential flatness serves as a powerful tool for controlling continuous time nonlinear systems in problems such as motion planning and trajectory tracking. A similar notion, called difference flatness, exists for discrete-time systems. Although many control systems evolve in continuous time, control implementation is performed digitally, requiring discretization. It is well known in the literature that discretization does not necessarily preserve structural properties, and it has been established that, in general, flatness is not preserved under discretization (whether exact or approximate). In this paper, inspired by our previous work [1] and based on the notion of discretization maps, we construct numerical schemes that preserve flatness. |
| title | Numerical Discretization Schemes that Preserve Flatness |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2511.11183 |