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Optimal input design for flat systems using B-splines

This paper deals with optimal design of input signals for linear, controllable systems, by means of their flat output. The flat output is parametrized by a polynomial spline and a linear problem is formulated in which both the spline coefficients and the knot locations are found simultaneously. Conservative constraints on the spline coefficients ensure that semi-infinite bounds are never violated and numerical results show that the amount of conservatism is little.