IEEE Transactions on Automatic Control, Vol.52, No.5, 840-851, 2007
Time-varying linear systems: Relative degree and normal form
We define the relative degree of time-varying linear systems, show that it coincides with Isidori's and with Liberzon/Morse/Sontag's definition if the system is understood as a time-in-variant nonlinear system, characterize it in terms of the system data and their derivatives, derive at normal form with respect to a time-varying linear coordinate transformation, and finally characterize the zero dynamics.