Linearization and input-output decoupling for general nonlinear systems
The author extends two results concerning control affine systems \(\dot x=f(x)+\sum u_ ig_ i(x)\) to the general systems \(\dot x=f(x,u)\) (or even more general with (x,u) replaced by elements of a bundle B). These results concern: (i) linearization of systems by changing coordinates and feedback, (ii) input-output decoupling by static state feedback. The conditions for these to be possible are analogous to the control affine case (involutivity of certain distributions in case (i) and splitting a distribution into a direct sum of maximal controllability distributions in case (ii)). The method is to extend the latter system into the state affine system \(\dot x=f(x,u)\), \(\dot u=v\) and use the existing results. Then, the distributions expressing the linearizing and decoupling conditions are expressed in terms of distributions on the bundle B.
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