ON THE SOLUTION AND ITS UNIQUENESS OF NONLINEAR DECOUPLING PROBLEMS
非线性解耦问题的解及其唯一性

Through a newly proposed algorithm to compute the maximal controlled invariant distri-bution,this paper is devoted to a study of the solution and its uniqueness of the disturbancedecoupling and general input-output block decoupling problems of nonlinear systems.Forboth problems,simple algebraic criteria are derived,which are generalizations of the well-known Falb-Wolovich condition for the 1-1 decoupling problem.Necessary and sufficient con-ditions are also found for the uniqueness of the controllability distribution(s) that can arise assolutions to the nonlinear decoupling problems.