On the linearization via a restricted class of dynamic feedback

We deal with the problem of linearization of nonlinear systems using a restricted class of dynamic compensator which is composed of chains of integrators, followed by static feedback in the vector field formulation. We present an upper bound on the number of integrators to linearize nonlinear systems, and show that the bound is sharp when n-2/spl ges/m/spl ges/2. This results in the checkable necessary and sufficient conditions.