Motion planning for two classes of nonlinear systems with delays depending on the control

Two classes of nonlinear delayed controlled systems are considered: nonlinear hyperbolic equations (such as the Burgers equation without diffusion) and models of mixing processes with nonnegligible pipe holdups. Both can be seen as systems with delays depending on the control. As for flat systems, the trajectories of such systems can be explicitly parameterized. This is achieved by enlarging the set of allowed manipulations (classical algebraic computations and time derivations) by using compositions and inversions of functions. This provides an easy motion planning algorithm