Abstract
Consider the time-varying nonlinear system of the form x(t) = f(x,t) + Σi=1 mui(t)gi(x,t), with f, g1,...,gm being l∞ vector fields on Rn+1. We give necessary and sufficient conditions for this system to be transformable to a time-invariant controllable linear system. In order to control the nonlinear system, we map to the linear system, choose a desired control there, and return to the nonlinear system by the inverse of the transformation.
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