Minimal-order dynamic decoupling of nonlinear systems (Q918484)

For affine nonlinear control systems \(\dot x=f(x)+\sum^{m}_{1}g_ i(x)u_ i\), \(y=h(x)\), where \(x_ i\) are local coordinates of an analytic manifold and f, \(g_ i\) are analytic vector fields, the problem of input/output decoupling is considered. A dynamic decoupling procedure with a minimal order nonlinear compensator is given.