It also discusses the problems of the controllability and observability of the decoupled control systems, and decoupling by output feedback, etc.

同时，还讨论了解耦系统的能控能观测性、输出反馈实现解藕等问题。

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Based on the state space model systematized, and applying the dynamic output feedback, the conditions for robustness disturbance decoupling are proposed in the paper.

基于系统的状态空间模型，利用动态输出反馈，给出了鲁棒干扰解耦的条件。

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Firstly, the original nonlinear model of the aircraft longitudinal motion is linearized to a three-order decoupling system via the input-output feedback technique.

首先，对飞机纵向运动的非线性模型进行输入输出反馈线性化，将其等效为一个三阶线性系统，并同时实现了解耦。

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