Abstract

This paper discusses the invertibility of affine nonlinear singular control systems. First an inversion algorithm is given for such systems, which is not only a practical procedure but also plays a very important role in studying the solvability of the inverse system. Then based on such an algorithm, a sufficient condition is derived, under which the invertibility problem for the affine nonlinear singular control systems is solvable. For invertible systems, a nonlinear inverse system is constructed. For certain noninvertible systems, the sufficient condition yields a characterization of input space on which the input-output map is inject.

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