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Keywords:
controlled invariance; dynamic state feedback; disturbance decoupling; differential forms
controlled invariance; dynamic state feedback; disturbance decoupling; differential forms
Summary:
The notion of controlled invariance under quasi-static state feedback for discrete-time nonlinear systems has been recently introduced and shown to provide a geometric solution to the dynamic disturbance decoupling problem (DDDP). However, the proof relies heavily on the inversion (structure) algorithm. This paper presents an intrinsic, algorithm-independent, proof of the solvability conditions to the DDDP.
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