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(.): quasicanonical form, nonlinear systems, zero dynamics
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(.): We consider the mathematical model of a helicopter described by a system of ordinary differential equations. These equations are transformed to the quasicanonical form. Then we analyse the subsystem governing the zero dynamics of the system and find the outputs with respect to which the system is a minimumphase one.
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: 2018, : 734, : 18.

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