Generalized Controlled Invariance for Nonlinear Systems (Revised)

摘要

A general setting is developed which describes controlled invariance fornonlinear control systems and which incorporates the previous approaches dealing with controlled invariant (co -) distributions. A special class of controlled invariant subspaces, called controllability cospaces, is introduced. These geometric notions are shown to be useful for deriving a (geometric) solution to the dynamic disturbance decoupling problem and for characterizing the so-called fixed dynamics for noninteracting control.