Linearization and decoupling of nonlinear delay systems

The output control problem for multi-input multi-output nonlinear delay systems is considered, and a solution is proposed for delay minimum phase systems. In a previous paper (1996), through the use of a suitable formalism, we showed a solution to the problem of the input-output linearization via static-state feedback for a single input single output class of nonlinear delay systems. In this paper, by the introduction of the concept, of delay vector relative degree, we obtain the linearization of the input-output mapping for multi-input multi-output nonlinear delay systems, such that the output can be easily controlled. Simulation results on an unstable nonlinear delay system are also reported showing the effectiveness of the proposed method