Removing input derivatives and lowering their orders in generalized state-space representations

The problem of lowering the orders of input derivatives in generalized dynamics of nonlinear systems by generalized state transformations is discussed. In both local and global cases, necessary and sufficient conditions are given for such transformations to exist. These conditions show the particularity of nonlinear generalized dynamics which can be transformed into classical Kalman dynamics. A construction of generalized state transformations lowering the orders of input derivatives is given. The problem of lowering the orders of input derivatives in the output equations is studied. An illustrative examples is provided