On the scheduling of local nonlinear static feedback control laws: multi-input case

Proposes a way to schedule analytically local nonlinear static feedback control laws for general multi-input nonlinear systems. The final control law still takes the form of a general nonlinear static feedback law. For nonlinear regulation problems necessary and sufficient conditions are given for the existence of nonlinear control laws whose first order and higher order derivatives at any operating point match exactly that of the desired local nonlinear control law designed for that operating point. For single input nonlinear systems, such nonlinear control laws always exist. Unfortunately this is not true for multi-input nonlinear systems. As a special case, these results also apply to nonlinear systems with exogenous signal