Abstract
Recently, the input-output linearization technique of affine nonlinear systems has been attracted a lot of researchers. Especially for multivariable systems, the nonlinear version of the structure algorithm plays a basic role. In linear systems, the structure algorithm is the equivalent concept to the interactor. However, since the interactor contains more information about the delay structure of multivariable systems than the structure algorithm, the interactor is often used instead of the structure algorithm in many of linear multivariable control systems. The purpose of this paper is to define an interactor for affine nonlinear multivariable systems and to use it for the input-output linearization. It will be shown that this interactor is invariant under the nonlinear state feedback and many properties of the interactor for linear systems can be naturally extended to the nonlinear case.
