Nonlinear H(sub infinity symbol) Almost Disturbance Decoupling

摘要

The H(sub infinity) almost disturbance decoupling problem for SISO nonlinear systems is formulated. Sufficient conditions are identified for the existence of a parametrized state feedback controller such that the L(sub 2)-gain from disturbances to output can be made arbitrarily small by increasing its gain. The controller is explicitly constructed using a Lyapunov-based recursive scheme. Some results on internal stability are established. Extensions to the MIMO case and relations with (singular) H(sub infinity) control are indicated.