The sufficient conditions that enable the system to be decoupled are discussed, and the input-output linearization conditions with the canonical form of this nonlinear time-delay system are presented.

文中给出了非线性时滞系统得以解耦的非线性状态反馈控制律； 此状态控制律不但可以实现输出与时滞状态变量的解耦，还可以实现输出与输入间的精确线性化。

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