ИСТИНА

The paper deals with a terminal problem for multi-input control affine systems. The new approach is suggested to solve terminal problems for systems that are not state feedback linearizable. The approach is based on the orbital state feedback linearization of the system and consists of two steps. First, we use time scaling transformation depending on inputs. Then, we linearize the transformed system by means of a smooth nonsingular change of the state and an invertible change of the inputs. The relation is described between the properties of state feedback linearizability for the original system and for the transformed one. The example of the five-dimensional system is presented to illustrate the proposed approach.