证明了具有对称性的非线性控制系统存在局部的串级解耦标准形．这种标准形由一个维数等于系统维数与对称性Ｌｉｅ群维数之差的独立子系统和一个不含控制量的子系统串联而成．利用对称性和微分几何方法可将这种标准形构造出来 It is proved that there exists a local cascaded decoupled standard shape for a nonlinear control system with symmetry. This standard form is made up of an independent subsystem with a dimension equal to the difference between the system dimension and the symmetry Lie group dimension and a subsystem without control. This standard form can be constructed using symmetry and differential geometry methods