Accessibility conditions of MIMO nonlinear control systems on homogeneous time scales

Realization of nonlinear input-output equations in controller canonical form

“…Define H ∞ := H k * . From now on we make the assumption that H ∞ = {0}, which means that the system (1) is generically accessible in the sense that (1) does not admit autonomous elements in K, see [2]. Note that the latter is necessary for transforming a system (1) or (3) into the form (4), (5).…”