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This paper considers the input-output linearization problem for retarded nonlinear systems which have time-delays in the state. By using an extension of the Lie derivative for functional differential equations, we derive a coordinates transformation and a state feedback to obtain linear inputoutput behavior for a class of retarded nonlinear systems. We also examine the stability condition of the total systems. The effectiveness of the proposed technique is demonstrated through numerical simulations. 1364 0-7803-4394-8198 $1 0.00 0 1998 IEEE

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T(C1 C2)-it 2 }n_r (10) C 12 0 }p-(n--r)