DECOUPLING IN NONLINEAR DYNAMIC-SYSTEMS

In this paper, we present a concise implementation (MACSYMA) to study the problem of decoupling for nonlinear control systems (linear in the control) via analytic state feedback. This computation uses the Claude's technic, based on generating power series (as introduced by Fliess). We develop a little more general and unify case of decoupling some subset of outputs with respect to some subset of inputs. We obtain as particular cases the Disturbance Decoupling Problem, the Triangular Decoupling Problem, the Diagonal Decoupling Problem and the Noninteracting Control Problem.