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arXiv · 2610.08697

On the Exact Linearization of Multi-Input Discrete-Time Flat Systems

Johannes Schrotshamer·Bernd Kolar·Markus Schöberl
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Abstract

In this contribution, we address the exact linearization of forward- and backward-flat discrete-time nonlinear systems with an arbitrary number of inputs. Building on structural properties of the flat parameterization, we show that forward-flat systems can be rendered static feedback linearizable by prolongations of suitably transformed inputs. Analogously, for backward-flat systems, we derive a constructive procedure showing that an exact linearization can be achieved by prelongations of suitably chosen functions of the system variables. In this way, we extend previously established results for two-input systems to the general m-input case. Finally, we illustrate the proposed linearization procedures by an academic example and a discrete-time model of a quadrotor.

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Johannes Schrotshamer, Bernd Kolar, Markus Schöberl. 2026-10-06. On the Exact Linearization of Multi-Input Discrete-Time Flat Systems. https://arxiv.org/abs/2610.08697

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