Constructive necessary and sufficient conditions for strict triangularizability of driftless nonholonomic systems

The steering problem is a key issue in control theory. In particular closed-form solutions have been provided in the literature only for special classes of systems. Previously this class of systems has been enlarged to the class of systems which have a strictly triangular form. In this paper we consider the problem of finding necessary and sufficient conditions for a system to be equivalent, up to reparameterization of the configuration manifold, to a strict triangular form system