The Realization of Nonlinear Decoupling Control with Stability
稳定非线性解耦控制的实现

In this paper a structure of nonlinear decoupling feedback is presented and it is used to analyze the decoupling control with stability problem. A concept of controllable fixed dynamics is proposed, and it is proved that two kinds of the dynamics can be removed by dynamic feedback if they are unstable. At last, an examples are presented to illustrate the correctness and usefuless of the results.