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In elementary nonlinear decoupling theory a property space (z) is defined as a transformation of the state space (x). Elementary nonlinear decoupling has the purpose of generating the control vector u which drives the system in such a way that the property vector has a desired rate of change. A method is described in this paper for the design of this property transformation which makes the nonlinear decoupling realizable and at the same time makes the system satisfy certain dynamic specifications

Design of the Property Transformation in Elementary Nonlinear Decoupling of Multivariable Processes