# Multi-input control-affine systems static feedback equivalent to a triangular form and their flatness

> Research article (International Journal of Control, 2015) · cited 92× · AI/ML

**Wikidata**: [openalex:W2593177928](https://www.wikidata.org/wiki/openalex:W2593177928)  
**Source**: https://4ort.xyz/entity/multi-input-control-affine-systems-static-feedback-equivalent-to-a-triangular-form-and-their-flatness