Further Results in the Triangular Decoupling Problem for Nonlinear Systems

摘要

The Triangular Decoupling Problem (TDP) for nonlinear control systems isaddressed. A set of geometric conditions for the solvability of the TDP is derived and the connection with the dynamic input output decoupling problem is studied. It is common practice to solve synthesis problems for nonlinear control systems about an equilibrium point by solving the same problem for the associated linearized system. Here, it is shown that a solution of the TDP for the associated linearized system does not correspond to the first order approximation of a solution for the original nonlinear TDP. Simulations on a simple example illustrate these results.