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