Poincaré normal form for a class of driftless systems in a one-dimensional submanifold neighborhood. (Q1865841)

Using the approach of \textit{W. Kang} and \textit{A. J. Krener} [SIAM J. Control Optimization 30, No. 6, 1319--1337 (1992; Zbl 0771.93034)] the authors study approximate feedback equivalence of a driftless control system with 2 inputs \[ \dot x= g_1(x) u_1+ g_2(x) u_2\tag{\(*\)} \] to the (one-)chained normal form \[ \dot y= (1,y_3,\dots, y_n,0)^T v_1+ (0,\dots, 0,1)^T v_2.\tag{\(**\)} \] To achieve this equivalence a quadratic feedback transformation is employed, containing homogeneous polynomials of degree 1 or 2 in the last \(n-1\) state variables, whose coefficients depend on the first state variable. It is shown that by some preliminary feedback the system \((*)\) can be given the following form \[ \begin{pmatrix} \dot x_1\\ \overset{\dot\sim} x\end{pmatrix}= \left(\begin{pmatrix} 1\\ A\widetilde x\end{pmatrix}+ f^{[2]}(x)+ O^3_{x_1}(\widetilde x)\right) u_1+ \left(\begin{pmatrix} 0\\ \cdot\\ 0\\ 1\end{pmatrix}+ O^2_{x_1}(\widetilde x)\right) u_2,\tag{+} \] where \(A= \left[\begin{smallmatrix} 0 & I_{n-1}\\ 0 & 0\end{smallmatrix}\right]\), and \(f^{[2]}(x)= (0,f^{[2]}_2(x),\dots, f^{[2]}_{n-1}(x), 0)^T\) with \[ f^{[2]}_k(x)= \sum_{2\leq i,j\leq n} b^k_{n-i+ 2,n-j+2}(x_1) x_{n- i+2} x_{n- j+2}. \] The system \((+)\) is said to be in normal form, if for \(2\leq r\leq n-2\) and \(2\leq k+1\leq n-r\) the quadratic term \[ f^{[2]}_{k+1}(x)= \sum_{2\leq r\leq n-(k+1)} c^{k+1}_{n- r+2}(x_1) x^2_{n-r+ 2}, \] whereas the remaining coefficients vanish. In the case when there exists a quadratic feedback that makes \(f^{[2]}(x)= 0\), the system \((+)\) is said to be quadratically equivalent to \((**)\). The main results of this paper provide necessary and sufficient conditions for the quadratic equivalence of \((+)\) to the chained system (Theorem 3), and compute the normal form of \((+)\) under quadratic feedback (Theorem 4).