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讨论了仿射非线性系统的非线性状态反馈解耦控制律的更一般形式，提出并证明了当系统的相对阶次之和小于系统维数时，非线性闭环解耦系统实现线性化并保持其解耦性不变的条件．
The more general form of the nonlinear state feedback decoupling control law for affine nonlinear systems is discussed and the nonlinear closed-loop decoupling system is linearized and maintained when the sum of relative orders of the system is smaller than the system dimension The same decoupling conditions.