Abstract
In this note we study the Disturbance Decoupling Problem with Stability for nonlinear control systems. The problem is solved in two special cases, namely either in case the system without disturbances is feedback linearizable, or the dynamics including the disturbances are linear but the output is possibly nonlinear. The results are illustrated by means of an example of a 3-degree of freedom robot manipulator.
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© 1988 Springer-Verlag
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van der Wegen, L.L.M., Nijmeijer, H. (1988). A note on distrubance decoupling with stability for nonlinear systems. In: Bensoussan, A., Lions, J.L. (eds) Analysis and Optimization of Systems. Lecture Notes in Control and Information Sciences, vol 111. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042207
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DOI: https://doi.org/10.1007/BFb0042207
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