Abstract:

General nonlinear control systems are studied in this paper with the goal to transform it into the so-called controllability canonical form via state transformation only. The conditions of tra-nsformability are given for both single input and multiple input cases. Besides., by algebraic approach the procedure for constructing the state transformation is established. This paper is formulated in the framework of calculus rather than differential geometry approach.

Key words: controllability canonical form, nonliear control systems, state transformation