Almost disturbance decoupling for a class of inherently nonlinear systems

摘要

The problem of almost disturbance decoupling (ADD) for a class of inherently nonlinear systems is considered. The controlled systems are beyond triangular form and possess uncontrollable linearization. The performance of ADD is characterized in terms of L 2?L 2p gain. By using the tool of adding a power integrator, under a set of growth conditions a smooth sate feedback controller is explicitly constructed to attenuate the influence of the disturbance on the output with an arbitrary degree.