A global implicit function theorem without initial point and its applications to control of non-affine systems of high dimensions (Q2577157)

The main result of the paper states that if \(f:{\mathbb R}^n\times {\mathbb R}^m \to {\mathbb R}^m\) is a continuous mapping, continuously differentiable in the second variable and satisfies the condition \[ \left| \left[{{\partial}\over{\partial u}}f(x,u)\right]_{ii}\right| -\sum_{j\neq i} \left| \left[{{\partial}\over{\partial u}}f(x,u)\right]_{ij}\right| \geq d>0 \] for some positive constant \(d\), for all \((x,u)\in{\mathbb R}^n \times {\mathbb R}^m\) and for all \(i=1,\dots,m\), then there exists a unique continuous mapping \(g:{\mathbb R}^n\to{\mathbb R}^m\) such that the identity \(f(x,g(x))=0\) holds for all \(x\in{\mathbb R}^n\). The most important feature is that this statement does not require the \textit{a priori} existence of an initial solution \((x_0,u_0)\) of the equation \(f(x,u)=0\). This result can successfully be applied to show the controllability of a class of non-affine multi-input and multi-output control systems.