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On Normal Forms of Nonlinear Systems Affine in Control

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2 Author(s)
Xinmin Liu ; Univ. of Virginia, Charlottesville ; Zongli Lin

In this paper, we propose a constructive algorithm for decomposing a nonlinear system that is affine in control. The algorithm applies to general multiple input multiple output systems that do not necessarily have the same number of inputs and outputs, and leads to various normal form representations which reveal the structure at infinity, the zero dynamics and the invertibility properties.

Published in:

American Control Conference, 2007. ACC '07

Date of Conference:

9-13 July 2007

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