就是现代控制理论里面的能控标准型。
可以表述为[1]:
也可以表述为(参考《线性系统理论》(郑大钟)):
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[1] Ngo K B, Mahony R, Jiang Z P. Integrator backstepping using barrier functions for systems with multiple state constraints[C]//Proceedings of the 44th IEEE Conference on Decision and Control. IEEE, 2005: 8306-8312.