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5.2 Feedback-Linearization Controllers                       283

                       Table 5.2.3: Dynamic One-DOF Controller: Design 1

















































              Next we solve the Bezout indentity [Vidyasagar 1985] for X(s) and Y(s),
            which are also stable rational functions,




                                   Y(s)D(s)+X(s)N(s)=I




            to get



            Copyright © 2004 by Marcel Dekker, Inc.
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