$m$-Triangular Systems are dynamical physical systems which can be described by $m$ triangular subsystem models. Many physical system models such as those which describe fixed-wing and quadrotor aircraft can be realized as $m$-Triangular Systems. However, many control engineers try to fit their dynamical model into a $1$-Triangular System model. This is commonly seen in the backstepping control community in which they have developed pioneering adaptive control laws which can explicitly account for operating state constraints.

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Institute for Software Integrated Systems