Geometry of Cascade Feedback Linearizable Control Systems

Abstract

In this thesis, we provide new insights into the theory of cascade feedback linearization of control systems. In particular, we present a new explicit class of cascade feedback linearizable control systems, as well as a new obstruction to the existence of a cascade feedback linearization for a given invariant control system. These theorems are presented in Chapter 4, where truncated versions of operators from the calculus of variations are introduced and explored to prove these new results. This connection reveals new geometry behind cascade feedback linearization and establishes a foundation for future exciting work on the subject with important consequences for dynamic feedback linearization.