Applications and Extensions of Goursat Normal Form to Control of Nonlinear Systems
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Richard M. Murray
Proceedings of the 32nd Conference on Decision and Control
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.
Keywords: Exterior differential systems, nonholonomic constraints, chained form, feedback linearization, differentially flat.
- Conference paper: http://www.cds.caltech.edu/~murray/preprints/mur93-cdc.pdf