Incomplete matrix partial fraction expansion
Internal properness and stability in linear systems
Invariants and canonical forms for linear multivariable systems under the action of orthogonal transformation groups
Inversion in indirect optimal control of multivariable systems
This paper presents the role of vector relative degree in the formulation of stationarity conditions of optimal control problems for affine control systems. After translating the dynamics into a normal form, we study the Hamiltonian structure. Stationarity conditions are rewritten with a limited number of variables. The approach is demonstrated on two and three inputs systems, then, we prove a formal result in the general case. A mechanical system example serves as illustration.