15th Triennial World Congress of the International Federation of Automatic Control
  Barcelona, 21–26 July 2002 
CHARACTERIZATION OF INVARIANT CODISTRIBUTIONS FOR DISCRETE-TIME NONLINEAR DYNAMICAL SYSTEMS
E. Aranda-Bricaire* C.H. Moog**
* Departamento de Ingeniería Eléctrica, Sección de Mecatrónica
CINVESTAV, México.
earanda@mail.cinvestav.mx
** IRCCYN, UMR 6597, ECN, France.
Claude.Moog@irccyn.ec-nantes.fr

The goal of this paper is two-fold. First, given an arbitrary n-dimensional discrete-time nonlinear dynamical system, necessary and sufficient conditions for the existence of a one-dimensional invariant codistribution are obtained. Second, it is shown that the previous conditions can be used iteratively to obtain a nested sequence of n invariant codistributions with the properties that each codistribution contains the previous one and the last one coincides with the cotangent bundle of the state manifold. As a byproduct, necessary and sufficient conditions are obtained for a discrete-time nonlinear dynamical system to be equivalent to the so-called feedforward form.
Keywords: Nonlinear systems, Discrete-time systems, Dynamic systems, Invariance, Distributions
Session slot T-Th-A07: Nonlinear Discrete Time Systems I/Area code 2c : Non-linear Systems