Integrator forwarding control laws for some classes of linearizable feedforward systems

In a companion paper (Krstic, "Feedforward systems linearizable by coordinate change," ACC'04) we revealed that the family of feedforward systems contains a substantial class that is linearizable by a diffeomorphic coordinate change. We present two subclasses for which explicit control formulae can be derived. Our procedures follow the general integrator forwarding algorithm of Sepulchre-Jankovic-Kokotovic but avoid the requirements to solve (analytically) a series of nonlinear ODEs and to compute (analytically) a series of integrals with respect to time.