Reduction of systems to a form with relative degree using dynamic output transformation

A form with the extraction of the zero dynamics is the most convenient canonical form of a linear time-independent multivariable control system. Only systems with vector relative degree can be reduced to such a form. There exist control systems that, together with any system obtained from them by a time-independent change of outputs, have no relative degree. To ensure the relative degree conditions, we suggest to use an invertible dynamic change of measured outputs of the system, which allows one to solve the problem on the reduction of a linear time-independent MIMO-system to a form with relative degree in the most general case.