Local Disturbance Decoupling Problem with Stability for Nonlinear Systems

摘要

The Disturbance Decoupling Problem with Stability (DDPS) for nonlinear systems is considered. The DDPS is the problem of finding a feedback such that after applying this feedback the disturbances do not influence the output anymore and x = 0 is an asymptotically stable equilibrium point of the feedback system. Under fairly mild assumptions it is possible to define a distribution Delta s sup asterisk which is the nonlinear analog of the linear V s sup asterisk, the largest stabilizable controlled invariant subspace in the kernel of the output mapping, and to prove that the DDPS is locally solvable if and only if the disturbance vector fields are contained in Delta s sup asterisk.