$m$-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. We shall