Abstract
For a class of nonlinear plants which can be decoupled by state variable feedback, the problem of decoupling by output feedback is considered. A necessary and sufficient condition for the existence of state variable feedback decoupling control law for a system composed of a nonlinear compensator in cascade with the plant is derived. The use of compensator allows decoupling by the feedback of the output and its time derivatives. Using some results on the existence and uniqueness of solutions of nonlinear equations two sufficient conditions for the decoupling by output feedback are presented.
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