【摘要】 本文阐述了整谱树近些年来的一些最新结果更多还原

【Abstract】 This is survey of our recent researches about the geometrical theory of nonlinear control systems on Riemannian manifold.We define the nonlinear control systems on Riemannian manifold and give the represention of state equation under a local coordinate system of the Riemannian manifold,discuss the controllable decomposition and observable decomposition problems and the decoupling problems of state equation and state feedback control for nonlimear control systems on Riemannian manifold.更多还原