A Structurally Flat Triangular Form Based on the Extended Chained Form

In this paper, we present a structurally flat triangular form which is based on the extended chained form. We provide a complete geometric characterization of the proposed triangular form in terms of necessary and sufficient conditions for an affine input system with two inputs to be static feedback equivalent to this triangular form. This yields a sufficient condition for an affine input system to be flat.Comment: arXiv admin note: substantial text overlap with arXiv:2002.0120