The Structure of Multivariable Nonlinear Systems
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The purpose of this chapter is to analyze, in a multi-input multi-output nonlinear system (having the same number of input and output components), the notion of invertibility. A major consequence of such property is the existence of a change of variables that plays, for a multivariable system, a role equivalent to the change of variable leading to the normal form of a single-input single-output system. A class of special relevance consists of those invertible systems in which it is possible to force, by means of state feedback, a linear input–output behavior. A further subclass is that of those systems for which a (multivariable version of the concept of) relative degree can be defined.
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