Abstract
This paper is concerned with the problem as to whether a multi-input nonlinear system is equivalent to the so-called low-triangular form. Two elemental forms of multi-input lower-triangular systems are proposed. Then, using the theory of singular distributions, the necessary and sufficient conditions under which multi-input nonlinear systems are locally feedback equivalent to these two lower-triangular systems are established. Furthermore, algorithms are provided to describe how to realize these equivalent transformations via state feedbacks and coordinate conversions.
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Zhang, D., Tarn, T.J., He, X. et al. Geometric characterization of multi-input lower-triangular forms. Sci. China Inf. Sci. 54, 1868–1882 (2011). https://doi.org/10.1007/s11432-011-4301-0
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DOI: https://doi.org/10.1007/s11432-011-4301-0