Disturbance decoupling control with stability for a class of MIMO nonlinear systems
一类MIMO非线性系统的稳定干扰解耦控制

Based on the relative-degree concept of differential geometry theory on nonlinear system,the disturbance decoupling problem(DDP) is studied for a class of MIMO nonlinear systems.First,the vector relative-degree associated with the disturbances is defined.Sufficient and necessary conditions are then given for solvability of DDP via static state feedback.Furthermore,the stability of the decoupled systems is discussed and its sufficient condition is given.Finally,Simulation results are given to illustrate the effectiveness of this method.