Controlled Invariant Distributions and the Disturbance Decoupling Problem

In this chapter, Section 7.1, we will introduce and discuss the concept of controlled invariance for nonlinear systems. Controlled invariant distributions play a crucial role in various synthesis problems like for instance the disturbance decoupling problem and the input-output decoupling problem. A detailed account of the disturbance decoupling problem together with some worked examples will be given in Section 7.2. Later, in Chapter 9 we will exploit controlled invariant distributions in the input-output decoupling problem.

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