This paper gives a control law for stabilizing multiple input chained form control systems. This extends an earlier result  on stabilizing the above class of systems which have two inputs. Along the way, we construct a transformation from general chained form systems with multiple generators to a power form. A control law which stabilizers the origin of a three-input control system that models the kinematics of a fire truck is simulated, confirming the theoretical results.
Stabilization of Multiple Input Chained Form Control Systems
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Electrical Engineering & Computer Sciences Technical Reports
The Engineering Library
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