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In control theory, dynamical systems are in strict-feedback form when they can be expressed as
where
Here, strict feedback refers to the fact that the nonlinear functions f i {\displaystyle f_{i}} and g i {\displaystyle g_{i}} in the z ˙ i {\displaystyle {\dot {z}}_{i}} equation only depend on states x , z 1 , … , z i {\displaystyle x,z_{1},\ldots ,z_{i}} that are fed back to that subsystem. That is, the system has a kind of lower triangular form.
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