Bifurcation and Normal Form of Nonlinear Control Systems, Part I
This paper is concerned with smooth, SISO affine control systems in \(\mathbb{R}^n\), of the form \[ \dot x= f(x)+ g(x)u,\tag{\(*\)} \] with \(f(0)= 0\), \(g(0)\neq 0\). It is assumed that the linear approximation \(A= {\partial f(0)\over\partial x}\), \(B= g(0)\) of the system \((*)\) has controllability index \(n-1\), i.e., rank \([B,AB,\dots, A^{n-1}B]= n-1\). Three questions are addressed in the paper: the shape of the equilibrium set \[ E= \{x\mid(\exists u\in\mathbb{R})(f(x)+ g(x)u=0)\} \] under static state feedback, controllability of the linear approximation to the system \((*)\) at the points belonging to \(E\), and the local feedback stabilizability of the system \((*)\). All the results presented in the paper are based on the following quadratic normal forms of the control system \((*)\): \[ \dot z=\lambda z+ \sum^{n-1}_{i=1} \gamma_{x_ix_i} x^2_i+ \gamma_{zx_1} zx_1+ O^3, \] \[ \dot x= A_2x+ B_2u+ f_2(x)+ O^3, \] where \(\lambda\) is a nonzero real-eigenvalue of \(A\), or \[ \dot z= \sum^{n-1}_{i=1} \gamma_{x_ix_i} x^2_i+ \gamma_{zx_1} xz_1+ \gamma_{zz} z^2+ O^3, \] \[ \dot x= A_2x+ B_2u+ f_2(x)+ O^3, \] if \(\lambda= 0\). In these normal forms \(z\in \mathbb{R}\), \(x\in\mathbb{R}^{n-1}\), \((A,B)\) are in the Brunovsky canonical form, and \(f_2(x)= (f_{21}(x),\dots, f_{2n-3}(x),0, 0)\), where \(f_{2i}(x)= \sum^{n-1}_{j= i+2} a_{in-j} x^2_j\). \(O^3\) denotes terms of order greater than or equal to 3 in \(x\), \(z\), \(u\).
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