A condition for the solvability of the nonlinear model matching problem

Nonlinear model matching: a local solution and two worked examples

“…For the solution of the nonlinear model matching problem only partial solutions are known up till now (cf. [9,4,3,7,8,12] In this example MMP can be solved by means of a static state feedback. Secondly we will consider a two-lik robot arm with one flexible joint, as was also studied in e.g.…”

“…The usual definition of the model matching problem is given below (see [3,4] (5) where Cf h is the directional derivati've of the function h along the vector field f, i.e. £jh(r) = Ax(z)fi(r) and we define inductively: £9fh = h, £kh = C(C"-'h).…”