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An input-output decoupling and linearization problem for a class of nonlinear time-delay systems is considered. The method is based on differential geometry theory to transform the nonlinear state equation into a normal form that has the property of being input-output linear. Several sufficient conditions are discussed, under which there exist a state feedback controller and the nonlinear coordinate transformation that can realize the output variables being independent of time delays and decoupling from the inputs. The Isidori-Brunovsky canonical form of the original system is given as well, which help to simplify the theory analysis and bring convenience to the practical ends.
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th (Volume:2 )
Date of Conference: 6-9 Dec. 2004