Simplification of the generalized state equations
The paper studies the problem of lowering the orders of input derivatives in nonlinear generalized state equations via generalized coordinate transformation. An alternative, computation-oriented proof is presented for the theorem, originally proved by Delaleau and Respondek, giving necessary and sufficient conditions for existence of such a transformation, in terms of commutativity of certain vector fields. Moreover, the dual conditions in terms of 1-forms have been derived, allowing to calculate...