Feedback classification of nonlinear control systems on 3-manifolds (Q1924409): Difference between revisions

This paper is of fundamental significance for feedback control theory. It deals with the static state feedback equivalence of smooth affine control systems defined on a 3-dimensional manifold. Two such systems \[ \begin{aligned} \dot x&=f(x)+g_1(x)u_1+ g_2(x)u_2= f(x)+g(x)u, \tag{\(*\)}\\ \dot\xi&=F(\xi)+G_1(\xi)v_1+ G_2(\xi)v_2= F(\xi)+G(\xi)v \tag{\(**\)}\end{aligned} \] are referred to as feedback equivalent if there exist a local diffeomorphism \(\xi=\varphi(x)\) and a pair of maps \(\eta(x)\), \(\psi(x)\) such that \[ F=\varphi_*(f+g\eta), \qquad G=\varphi_*(g\psi). \] Under the assumption that the vector fields \(g_1\), \(g_2\) in \((*)\) are independent, the paper presents a list of normal forms of generic control systems subject to the feedback equivalence as well as a characterization of the loci in the state space where these normal forms are defined. The following normal forms have been discovered: \(\bullet\) Structurally stable normal forms: 1. \(x=u_1,\quad y=u_2,\quad z=1-xu_2\), 2. \(x=u_1,\quad y=u_2,\quad z=1+y\pm x^2u_2\), 3. \(x=u_1,\quad y=u_2,\quad z=y-xu_2\), 4. \(x=u_1,\quad y=u_2,\quad z=y\pm x^2u_2\). \(\bullet\) Normal forms with numeric invariants (with parameters \(\alpha\), \(\theta\)): 5. \(x=u_1,\quad y=u_2,\quad z=\alpha (z+{1\over2} xy-\theta xy)-xu_2\), 6. \(x=u_1,\quad y=u_2,\quad z=\alpha (z+{1\over2} xy-\theta(x^2+y^2))-xu_2\). \(\bullet\) Normal forms with functional moduli (\(b\) a parameter, \(B(x,y,z)\) a function): 7. \(x=u_1,\quad y=u_2,\quad z=B(x,y,z)+x^2u_2\), 8. \(x=u_1,\quad y=(xy+x^2z+bx^3z^2)u_2,\quad z=B(x,y,z)-u_2\), 9. \(x=u_1,\quad y=(xy+{1\over3} x^3+bx^3z^2)u_2,\quad z=B(x,y,z)-u_2\).