Nonlinear decoupling in the presence of sensor and actuator deadtimes

The paper focuses on synthesizing nonlinear decoupling controllers for multivariable nonlinear systems modeled by a state-space model, in the presence of deadtimes. The deadtimes appear in both the inputs and the outputs, but not in the states, and are physically associated with sensors and actuators. This work aims at providing the conceptual and methodological framework for dealing with actuator and sensor deadtimes for nonlinear MIMO systems in state space, including concrete controller synthesis formulas