Abstract
The controllable Jordan form of the control-affine system equations was shown to exist besides the controllable Frobenius form. Explicit expressions of the stabilizing control of continuous and discrete one-control plants whose equations are represented in the controllable Jordan form, as well as the conditions for reduction to the controllable Jordan form of the control-affine second-order equations of nonlinear plants were presented. Examples of design of nonlinear continuous control systems were given.
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