Minimal-order dynamic decoupling of nonlinear systems
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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.
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