New Approach to Almost Decoupling Problems for Linear and Nonlinear Systems

摘要

An approach to high-gain feedback design for linear and nonlinear systems based on singular perturbation analysis and geometric systems theory is reviewed. This results in the linear case in the solution of the almost input-output decoupling problem, together with a solution of the almost disturbance decoupling problem. The procedure followed for both problems yields an explicit state feedback scheme parameterized by a small positive scalar and is based, geometrically speaking, on the structure at infinity of the system. In the nonlinear case the same approach is used to solve the almost disturbance decoupling problem for single-input - single-output systems. An interesting question is if the nonlinear results obtained also can lead to a nonlinear generalization of the geometric concept of almost controlled invariant subspaces.