The structure of decoupled non linear systems
Decouplingoflineartime-invariantsystemsbystatefeedbackandprecompensationhasbeentreatedinseveralpapers(FalbandWolovich1967,Gilbert1969,WonhamandMorse1970,SilvermanandPayne1(71).Ageneralizationofsomeresultsfortime-variablesystemswasgivenbyPorter(1969)andFreund(1971a,b).Decouplingofnon-
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