The mathematic model of these system has the form of triangularsystem.
该系统的数学模型满足“三角形系统”形式。
2
The necessary and sufficient conditions for feedback linearization of this triangularsystem are more easily testified than the involutivity conditions for the feedback linearization theory.
这类三角形系统的反馈线性化的充分必要条件要比反馈线性化理论的对合条件易于检验。
3
Owing to the character of structure of lower-triangularsystem, the high-rank state of each differential equation is used as virtual control, then the control law is constructed by recursive design.