Constructing simulation relations for IDO systems affine in inputs and disturbances

We introduce a new algorithm for generating simulation relations between nonlinear control systems that are affine in inputs and disturbances and provide precise mathematical conditions ensuring that the algorithm works as intended. In addition, we prove that under appropriate conditions, making the “right choices” in the algorithm leads to a maximal simulation relation. Finally, we construct several illustrative examples showing in detail how the algorithm works in specific instances and also indicate some of the limitations of the algorithm.

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