如何理解微分平坦性 (Differential Flatness)? - 知乎
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要理解微分平坦性 (Differential Flatness)，首先需要从严格的数学定义出发。 一个系统是微分平坦的，意味着存在一组特定的输出 (称为平坦输出，flat outputs)，使得系统的所有状态变量和控制输入都可以通过这些平坦输出及其有限阶导数来完全表示。
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