Controllability and Flatness

Chapter 3 of the book Nonlinear Systems and Controls deals with the controllability of nonlinear systems. Various controllability concepts are described and their practical meaning is illustrated. This chapter also includes a section on flat systems and the concept of flatness, which is related to controllability. The chapter concludes with a discussion of nonlinear state space transformations. Real-world examples such as an industrial robot and a VTOL aircraft illustrate the theory. Exercises, including many with a practical background, give students the opportunity to deepen their knowledge.