A Test for Differential Flatness by Reduction to Single Input Systems

For nonlinear control systems (p inputs), we present a test for flatness. The method consists of making an initial guess for p-1 of the flat outputs, which may involve parameters still to be determined. A choice of functions of time for the p-1 outputs reduce the system to one with a single input. For single input systems the problem of flatness has been solved and thus leads to the identification of the last flat output, or to obstructions to flatness under the hypotheses. We demonstrate the method for a coupled rigid body in ℝ2 and for a single rigid body in ℝ3

Configuration Flatness of Lagrangian Systems Underactuated by One Control

Lagrangian control systems that are differentially flat with flat outputs that only depend on configuration variables are said to be configuration flat. We provide a complete characterisation of configuration flatness for systems with n degrees of freedom and n - 1 controls whose range of control forces only depends on configuration and whose Lagrangian has the form of kinetic energy minus potential. The method presented allows us to determine if such a system is configuration flat and, if so provides a constructive method for finding all possible configuration flat outputs. Our characterisation relates configuration flatness to Riemannian geometry. We illustrate the method by two examples

Spherically Symmetric Solutions in Higher-Derivative Gravity

Extensions of Einstein gravity with quadratic curvature terms in the action arise in most effective theories of quantised gravity, including string theory. This article explores the set of static, spherically symmetric and asymptotically flat solutions of this class of theories. An important element in the analysis is the careful treatment of a Lichnerowicz-type `no-hair' theorem. From a Frobenius analysis of the asymptotic small-radius behaviour, the solution space is found to split into three asymptotic families, one of which contains the classic Schwarzschild solution. These three families are carefully analysed to determine the corresponding numbers of free parameters in each. One solution family is capable of arising from coupling to a distributional shell of matter near the origin; this family can then match on to an asymptotically flat solution at spatial infinity without encountering a horizon. Another family, with horizons, contains the Schwarzschild solution but includes also non-Schwarzschild black holes. The third family of solutions obtained from the Frobenius analysis is nonsingular and corresponds to `vacuum' solutions. In addition to the three families identified from near-origin behaviour, there are solutions that may be identified as `wormholes', which can match symmetrically on to another sheet of spacetime at finite radius.Comment: 57 pages, 6 figures; version appearing in journal; minor corrections and clarifications to v