Flatness-based tracking control of nonlinear differential algebraic systems with geometric index one

Flatness-based tracking control design with observer is studied for nonlinear differential algebraic systems with geometric index one. It is shown that a concept of algebraic observability is useful for observer design of a flatness-based tracking control. Through a simple example of an algebraically observable system, it is demonstrated that a proposal flatness-based tracking control design with observer is effective.