View source for Applications and Extensions of Goursat Normal Form to Control of Nonlinear Systems

{{HTDB paper
| authors = Richard M. Murray 
| title =  Applications and Extensions of Goursat Normal Form to Control of Nonlinear Systems 
| source = Proceedings of the 32nd Conference on Decision and Control<br>December 1993
| year = 1993
| type = Conference paper
| funding = 
| url = http://www.cds.caltech.edu/~murray/preprints/mur93-cdc.pdf
| abstract = 
The Goursat normal form theorem gives conditions under which an
Pfaffian exterior differential system is equivalent to a certain
normal form.  This paper details how the Goursat normal form and its
extensions provide a unified framework for understanding feedback
linearization, chained form, and differential flatness.
<p> Keywords: Exterior differential systems, nonholonomic constraints,
chained form, feedback linearization, differentially flat.
| flags = NoRequest
| tag = mur93-cdc
| id = 1993e
}}