Characterization and flatness of the extended chained system

This paper considers the extended chained systems and gives a complete characterization of the nonlinear systems that are feedback equivalent to the extended chained system. The differential flatness property of the extended chained systems, defined in small dimension, are also analyzed and moreover, a class of differential flat extended chained systems are introduced. These results are applied to the system of a coin on a rotating table and it is shown that this system is, indeed, differential flat.