Controllability Distributions of Nonlinear Singular Systems
非线性奇异系统的能控性子分布

The controllability distribution problem of nonlinear singular control systems is studied. The concept of controllability distribution is introduced for nonlinear singular control systems, and the feedback invariant properties of this controllability distribution are discussed. The algorithm of controllability distribution of nonlinear singular systems is developed, and the properties of this algorithm are discussed. Under certain conditions, the controllability distributions developed by this algorithm are exactly the maximal controllability distribution of nonlinear singular systems contained in the given distribution.