@online{olson2025,
  author = {Olson, Dieter},
  title = {Superposition in {Affine} {Control} {Systems} via
    {Newton–Euler,} {Lagrangian,} and {Screw-Theoretic} {Formulations}},
  date = {2025-11-28},
  url = {https://affinedrift.com/articles/superposition.html},
  langid = {en},
  abstract = {This article develops a rigorous derivation of input
    superposition for finite-dimensional mechanical systems whose
    dynamics are affine in control. Comparing Newton–Euler, Lagrangian,
    and screw-theoretic formulations, it proves that while trajectories
    in state space do not superpose due to nonlinearities, the
    contributions of distinct input channels to generalized forces and
    accelerations strictly superpose.}
}