About the local linearization of nonlinear systems

In this paper, we show that for any locally controllable multi-input nonlinear system of the form x=f(x,u), u ?? Rn, there exists an implicit feedback v=S(x,u) assigning the poles of the closed loop linearized system at specified values independent of the operating point. This result generalizes the work of Baumann and Rugh [1] to the multi-input case by reconsidering the problem in its natural geometrical framework.