Abstract.
A geometric characterization of a class of square invertible nonlinear systems that can be molded into a normal form by a global diffeomorphism is detailed. Then additional conditions are fashioned that permit the implementation of the recursive design method known as “backstepping.”
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Date received: November 12, 1997. Date revised: December 2, 1998.
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Schwartz, B., Isidori, A. & Tarn, T. Global Normal Forms for MIMO Nonlinear Systems, with Applications to Stabilization and Disturbance Attenuation. Math. Control Signals Systems 12, 121–142 (1999). https://doi.org/10.1007/PL00009847
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DOI: https://doi.org/10.1007/PL00009847