Geodesic
Simplification of the generalized state equations
Kybernetika, Tome 42 (2006) no. 5, pp. 617-628.

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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 the new generalized state coordinates in a simpler way. The result is illustrated with an example, originally given by Delaleau and Respondek (see [2]), but solved in an alternative way.
Classification : 93B11, 93B17, 93B29, 93C10
Keywords: generalized dynamics; generalized state transformations; input derivatives; classical state; prolonged vector fields 
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     title = {Simplification of the generalized state equations},
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     zbl = {1249.93094},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/KYB_2006__42_5_a6/}
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Mullari, Tanel; Kotta, Ülle. Simplification of the generalized state equations. Kybernetika, Tome 42 (2006) no. 5, pp. 617-628. http://geodesic.mathdoc.fr/item/KYB_2006__42_5_a6/