Abstract
Sufficient conditions are given for the existence of a dynamic state feedback compensator for a multi-input nonlinear system such that the closed loop system is transformable into a linear controllable one by an extended state space change of coordinates. An example shows that the conditions are not necessary. Necessary conditions are also given which are shown to be sufficient when the number of states minus the number of controls is equal to one. Several examples illustrate how the sufficient conditions obtained lead to the design of the dynamic compensator.
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