Dynamic compensation and decoupling for systems of uniform index 2

A procedure for the design of an n-dimensional dynamic compensator for arbitrary pole placement for systems of dimension 2n and uniform controllability and observability indexes 2 is considered in state space representation and frequency domain. The design together with a minimal dimension dynamic compensator and Luenberger observer was applied to a two-link nonlinear biped n = 2 model in the vicinity of the vertical stance to test the effectiveness of their regulating actions.