The Principle and Implementation of Decoupling for Nonlinear Systems
非线性系统解耦原则及实施

Given an output partition, finding (if possible) a feedback control law such that the compensated system is decomposed into several parellel and indePehdent subsystems this is the usual formulation of the block decoupling problem of control systems. For nonlinear input-output control systems described by differential algebraic terms, we show thatthey possess their own inherent decoupling structures. A system can be decoupled if and only if the given partition "matches" the decoupling structure. And, for nonlinear systems in state spare equations, we can explicitly construct the decoupling structures by emplopiag the dynamic extension algorithm.