Canonical decomposition of nonlinear systems
The authors examine nonlinear, affine control systems \[ \begin{cases} \dot x = f(x)+ g(x)u,\\ y= h(x)\end{cases}\tag{\(\#\)} \] defined by meromorphic (a ratio of analytic) data \(f\), \(g\), \(h\). Sufficient conditions are found under which the system \((\#)\) can be transformed to a Morse type normal form consisting of three subsystems: controllable and observable, autonomous and observable, and unobservable. As system transformations, generalized state and feedback transformations and output injection are allowed (generalized means dependent on finite jets of the input signal). The main result establishes conditions for the decomposition of \((\#)\) into the following normal form \[ \begin{cases} \dot x_1 &= A_1x_1+ B\nu_1,\\ \dot x_2 &= A_2x_2,\\ \dot x_3 &= g(x_3,\nu_2),\\ y &= C_1x_1+ C_2x_2.\end{cases} \] Particular attention is paid to the so-called separability property which is responsible for the form of the unobservable subsystem given above.
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