{'fraction_non_alphanumeric': 0.00909090909090909, 'fraction_numerical': 0.007272727272727273, 'mean_word_length': 5.261363636363637, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Dynamic compensation and decoupling for systems of uniform index 2

A procedure for the design of an n-dimensional dynamic compensator for arbitrary pole placement for systems of dimension 2n and uniform controllability and observability indexes 2 is considered in state space representation and frequency domain. The design together with a minimal dimension dynamic compensator and Luenberger observer was applied to a two-link nonlinear biped n = 2 model in the vicinity of the vertical stance to test the effectiveness of their regulating actions.