Flatness as a system property of linear and nonlinear systems allows a relatively simple construction of feed-forward controllers and feedback controllers in order to solve the tracking problem. However, this approach makes the computation of flat outputs of the respective system necessary. Depending on the complexity of the system these computations can be very elaborate. In the context of this thesis, two toolboxes for the computer algebra system Maple were developed which allow the computation of flat outputs for linear systems (with and without delays) and for nonlinear systems. In case of linear systems, the implemented data types and methods are based on the algorithm developed by F. Antritter, F. Cazaurang, J. Lévine and J. Middeke, which uses an approach with skew polynomial matrices. In case of nonlinear systems, the implemented toolbox is based on the algorithm developed by J. Lévine, which makes use of a differential geometric approach.    «

Flatness as a system property of linear and nonlinear systems allows a relatively simple construction of feed-forward controllers and feedback controllers in order to solve the tracking problem. However, this approach makes the computation of flat outputs of the respective system necessary. Depending on the complexity of the system these computations can be very elaborate. In the context of this thesis, two toolboxes for the computer algebra system Maple were developed which allow the computatio...    »