Controlled Invariance for Affine Control Systems

摘要

A solution of the disturbance decoupling problem for nonlinear systems is given. Using differential geometry, a theory for nonlinear systems is developed analog to the geometric approach for linear systems as a successful way to solve various synthesis problems in control theory. Nonlinear A (mod B) invariance is emphasized. A coordinate free definition of a control system is presented. The concept of controlled invariant distributions is introduced and the main theorems are proven. A conceptual algorithm for computing a controlled invariant distribution is shown.