The classical notions of structural controllability and structural observability are receiving increasing attention in Network Science, since they provide a mathematical basis to answer how the network structure of a dynamic system affects its controllability and observability properties. However, these two notions are formulated assuming systems with linear dynamics, which significantly limit their applicability. To overcome this limitation, here we introduce and fully characterize the notions structural accessibility and structural observability for systems with nonlinear dynamics. We show how nonlinearities make easier the problem of controlling and observing networked systems, reducing the number of variables that are necessary to directly control and directly measure. Our results contribute to understanding better the role that the network structure and nonlinearities play in our ability to control and observe complex dynamic systems.
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