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Tracking Through Decoupling Singularities: A Singularity-Robust Homotopy-Continuation Extension of Feedback Linearization
Input--output feedback linearization fails at decoupling singularities, where the decoupling matrix loses rank, the relative degree is lost, and the linearizing control becomes unbounded. This paper develops a singularity-robust trajectory-tracking controller for square nonlinear control-affine syst
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