Abstract
We study the problem of transforming a single-input nonlinear control system to a strict feedforward form via a static state feedback. We provide checkable necessary and sufficient conditions to bring the homogeneous terms of any fixed degree of the system into a homogeneous strict feedforward form. If those conditions are satisfied, this leads to a constructive procedure which transforms the system, step by step, into a strict feedforward form. We explain our method by showing how it works for terms of degree three. We also illustrate it by analyzing three-dimensional systems.
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