Input-output linearization of retarded nonlinear systems by an extended Lie derivative

This paper considers the input-output linearization problem for retarded nonlinear systems which have time-delays in the state. By using an extension of the Lie derivative for functional differential equations, we derive a coordinate transformation and a state feedback to obtain the linear input-output behavior for a class of retarded nonlinear systems. We also examine the stability condition of the total systems. The effectiveness of the proposed technique is demonstrated through numerical simulations