Further Results on Global Controllability for a Class of Polynomial Affine Nonlinear Systems*

In this paper, we will discuss the global controllability for a class of nonlinear systems, which are with a triangular-like structure, but whose low dimensional polynomial subsystems are not in cascade form. The necessary and sufficient condition of the global controllability is obtained, which shows that the global controllability of the original systems is equivalent to the one of their corresponding subsystems. Therefore, the global controllability can be verified by the coefficients of the polynomials of the subsystems.