DYNAMIC DISTURBANCE DECOUPLING FOR NONLINEAR DISCRETE-TIME-SYSTEMS

In this paper we study the dynamic disturbance decoupling problem for nonlinear discrete-time systems that are considered in a neighbourhood of a given reference trajectory. Furthermore the connection between t he solvability of this problem and the solvability of the correspondin g problem for the time-varying linear discrete-time system obtained by linearizing the original system along the given reference trajectory is investigated. For this purpose, a geometric disturbance decoupling theory for time-varying linear discrete-time systems is developed.