Local Disturbance Decoupling with Stability for Nonlinear Systems

In this monograph the local disturbance decoupling problem
with stability istreated for nonlinear systems. This
problem consists in finding a (dynamic) state feedback for a
given control system with two kinds of inputs,            viz.
controlled inputs and (uncontrolled) disturbances such that
after   application of this feedback the outputs are not
influenced by the               disturbances and the resulting internal
dynamics are locally exponentially   stable. In case only
static state feedback is allowed two essentially         different
solutions are obtained, viz. a fundamental one and a                     more
problem-oriented one. Both methods generalize well-known
solutions for linear systems. In the last chapter a solution
is found in case dynamic state feedback is allowed. Here a
typical nonlinear phenomenon is pointed   out, namely that
there exist nonlinear systems for which the                        disturbance
decoupling problem (with stability) can be solved                     by
applying dynamic feedback, but not by using static feedback.
The bookis intended for researchers in mathematical
nonlinear systems theory.         Geometric techniques play a key
role in the book. Therefore, in Chapter 6   algebraic
techniques are recalled and used.