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Let W be the submodule of vector fields associated with (1). The Cauchy characteristic system is defined by  \\[  (2)\\quad C(W)=\\{v\\in W: [v,W]\\subset W\\}.  \\]  Introducing the derived system W \\(1=W+[W,W]\\), allows us to iterate (2). Thus, a nested sequence of Cauchy characteristic systems is obtained. In this way, the author identifies geometric and numerical invariants under global feedback equivalence.    The cases of affine and linear systems are considered. 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