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This paper is concerned with the problem as to whether a multi-input nonlinear system is equivalent to the so-called low-triangular form.Two elemental forms of multi-input lower-triangular systems are proposed.Then,using the theory of singular distributions,the necessary and sufficient conditions under which multi-input nonlinear systems are locally feedback equivalent to these two lower-triangular systems are established.Furthermore,algorithms are provided to describe how to realize these equivalent transformations via state feedbacks and coordinate conversions.
This paper is concerned with the problem as to whether a multi-input nonlinear system is equivalent to the so-called low-triangular form. Two elemental forms of multi-input lower-triangular systems are proposed. Chen, using the theory of singular distributions , the necessary and sufficient conditions under which multi-input nonlinear systems are locally feedback equivalent to these two lower-triangular systems are established. Futurerther, algorithms are provided to describe how to realize these equivalent transformations via state feedbacks and coordinate conversions.