Abstract
To any accessible nonlinear system we associate a so-called infinitesimal Brunovsky form. This gives an algebraic criterion for strong accessibility as well as a generalization of Kronecker controllability indices. An output function which defines a right-invertible system without zero dynamics is shown to exist if and only if the basis of the Brunovsky form can be transformed into a system of exact differential forms. This is equivalent to the system being differentially flat and hence constitutes a necessary and sufficient condition for dynamic feedback linearizability.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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