Controlled invariant singular foliations-additional results

Presents results, some of which are new, on the problem of finding a feedback law which will cause an affine nonlinear controlled invariant system to leave an involutive, singular distribution invariant. Most of the techniques can also be extended to fully nonlinear systems, This is because the resolution of the problem relies heavily on the solvability of degenerate, overdetermined systems of first order partial differential equations; and the methods presented here generalise easily to systems whose equations are quasilinear. However, the statements leading to a control theoretic interpretation of the sufficient conditions for the solvability of these systems tend to get too verbose. Therefore, the authors only consider affine nonlinear systems