Feedforward systems linearizable by coordinate change

We identify a class of feedforward nonlinear systems that are linearizable by a diffeomorphic coordinate change. This coordinate change has to satisfy a set of partial differential equations (commonly seen in feedback linearization) that are given in the paper. For the class of linearizable feedforward systems we present a control algorithm in the style of the Sepulchre-Jankovic-Kokotovic/Mazenc-Praly integrator forwarding procedure where the need to solve a series of nonlinear ODE\´s is eliminated and one has to analytically computes only a series of integrals. The results of this paper are further extended in a companion ACC\´04 paper [Krstic, "Integrator forwarding control laws for some classes of linearizable feedforward systems"].