Decoupling control and feedback linearization for a class of nonlinear time-delay systems

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.