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A very simple classification of Pfaffian systems of dimension 2 in 5 variables is given. It is used to show that any controllable driftless system with 3 inputs and 5 states is 0-flat and can be put into multi-input chained form by dynamic feedback and coordinate change.
This paper presents a control law for stabilizing multiple input chained form control systems. This extends an earlier result of Teel et al. (1994) on stabilizing the above class of systems which have two inputs. In addition, we generalize this law to dynamical control systems and construct a transformation from general chained form systems with multiple generators to a power form. A control law...
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