DYNAMIC COMPENSATION OF MEASURABLE DISTURBANCES IN NONLINEAR MULTIVARIABLE SYSTEMS

This paper concerns multivariable nonlinear systems with measurable di sturbance inputs. For such systems, we address the problem of eliminat ing the effect of the disturbance inputs on the outputs and achieving a well-characterized linear input/output behaviour in the closed-loop system. Necessary and sufficient conditions are derived under which dy namic feedforward/static state feedback laws solve the above problem, and explicit synthesis formulas are developed.