ACHIEVING VECTOR RELATIVE DEGREE FOR NONLINEAR-SYSTEMS WITH PARAMETRIC UNCERTAINTIES

Several algorithms for adaptive control, as well as for static state f eedback decoupling, feedback linearization, or inversion of nonlinear multivariable systems require that the systems have full vector relati ve degree, in order to be applied. In this paper, we provide a paramet er-independent method of achieving full vector relative degree for non linear multivariable systems which do not have it. We determine condit ions under which a diagonal dynamic precompensation is sufficient to a chieve vector relative degree for multivariable nonlinear systems, and describe a simple algorithm which determines such compensation.