On the computation of $\pi$-flat outputs for differential-delay systems

Abstract

We introduce a new definition of $\pi$-flatness for linear differential delay systems with time-varying coefficients. We characterize $\pi$- and $\pi$-0-flat outputs and provide an algorithm to efficiently compute such outputs. We present an academic example of motion planning to discuss the pertinence of the approach.Comment: Minor corrections to fit with the journal versio