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This paper, deals with a control method of linear multi-input multi-output (MIMO) system, developed in order to ensure the tracking of a reference trajectory. The flatness-based controller for studied system allows to solve path planning and path tracking problems. The desired trajectory is designed using the flatness property of controllable system. The flatness concept in path planning is considered...
A new necessary and sufficient condition for decoupling by static state feedback is presented in this note. The condition is based on the polynomial matrix fraction description. The proof of sufficiency also provides a method of computing the decoupling matrices.
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