Transforming a single-input system to a p-normal form via feedback

摘要

We give a geometric characterization of single-input nonlinear control systems that can be transformed via static state feedback to the, so-called, p-normal form. The presented verifiable conditions involve distributions spanned by some suitably chosen iterative Lie brackets of the vector fields defining the system. The proof is based on the Mather theorem on universal unfoldings.