Vestnik of Samara University. Natural Science SeriesVestnik of Samara University. Natural Science Series2541-75252712-8954Samara National Research University470410.18287/2541-7525-2013-19-9.2-5-10DECOMPOSITION OF MULTIRATE DYNAMIC SYSTEMS WITH SMALL DISSIPATIONVoropaevaN.V.morenov.sv@ssau.ruSamara State University02092013199.25100506201705062017Copyright © 2013, Voropaeva N.2013We consider singularly perturbed differential systems which describe the dynamics of manipulator with flexible joints in conditions of small dissipation. The existence of decoupling transformation which converts original multirate system to "block triangular" form with independent slow subsystem. Decoupling transformation is constructed as asymptotic series.singularly perturbed systems, decomposition, asymptotic methodsсингулярно возмущенные системы, декомпозиция, асимптотические методы