On Local Transverse Feedback Linearization

Given a control-affine system and a controlled invariant submanifold, we present necessary and sufficient conditions for local feedback equivalence to a system whose dynamics transversal to the submanifold are linear and controllable. A key ingredient used in the analysis is the new notion of transverse controllability indices of a control system with respect to a set. Key words. set stabilization, feedback linearization, controlled invariant sets, zero dynamics, multi-input systems, nonlinear geometric control AMS subject classifications. 37N35, 93B10, 93B29, 93B27,

• Type: Journal
• Year: 2008
• Where: SIAMCO
• Authors: Christopher Nielsen, Manfredi Maggiore
• Keywords: AMS Subject Classifications, Controlled Invariant, Local Feedback Equivalence, SIAMCO 2008