Decoupling and Linearization for a Class of Nonilinear Multivariable Systems
一类非线性多变量系统的解耦线性化

The problem of the input/output decoupling and complete linearization for nonlinear multivariable systems is discussed. By means of the concept of distribution invariance in the differential geometric theory, this paper presents and proves the condition under which the nonlinear decoupled system with Sum from i=1 to m r_i