An analysis of differential geometric and differential algebraic method for disturbance decoupling of nonlinear systems

摘要

In the past few years two methods of nonlinear control theory which have become increasingly popular are differential geometry and differential algebra. In order to acheive higher performance and accuracy in practice, nonlinear controllers - based on these methods - may be applied in new CACSD-packages. This paper deals with the disturbance decoupling problem (DDP) which means that any undesired input no longer effects the output. Both methods are presented and an analysis shows the characteristic advantages and disadvantages of each method. The differential geometric and differential algebraic computations for the DDP-controller are demonstrated using an example syste. A simulation study demonstrates the disturbance decouplability. Copyright ~direct 2000 IFAC