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A geometric characterization of feedforward forms

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2 Author(s)
Astolfi, A. ; Electr. Eng. Dept., Imperial Coll. London, UK ; Kaliora, G.

This note addresses the problem of (local) coordinates and feedback equivalence of single-input affine nonlinear systems to feedforward forms. In particular, using the notions of invariant and controlled invariant distributions we provide necessary and sufficient conditions for a general affine in control nonlinear system to be (locally) coordinates or feedback equivalent to a system in (strict) feedforward form. For illustration, the general theory is applied to a simple four-dimensional system describing the dynamics of a food-chain.

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Automatic Control, IEEE Transactions on  (Volume:50 ,  Issue: 7 )