Direct Approach to Almost Disturbance and Almost Input-Output Decoupling

摘要

A solution to the almost input-output and disturbance decoupling problem based on a canonical form for linear systems, which is obtained in a fully constructive way, is given, together with elementary approximation results. The solution is given in the form of an explicit feedback law, parameterized by a scalar. By letting the scalar go to zero the accuracy of the resulting approximate solution can be improved to any desired degree.