**DIPS 01/2002**[tex source, PostScript, PDF file, dvi]-
**Title:**FLATNESS CONDITIONS FOR CONTROL SYSTEMS**Author:**V. N. ChetverikovWe study the problem of looking for flat control systems and flat outputs. A control system is flat if there exists a change of variables transforming this system to the trivial system: $\dot x = u$. The change of variables can be of most general type. In this work, a necessary and sufficient condition for flatness is obtained. We give also a flatness test and a method for constructing the change of variables. An example is considered to illustrate the test and the method.

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