A geometric solution to the dynamic disturbance decoupling for discrete-time nonlinear systems

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

Linearization of discrete-time control system by state transformation

This paper presents necessary and sufficient linearizability conditions by state transformation for discrete-time multi-input nonlinear control system under the mild assumption on the surjectivity property and describes how to find the state transformation when it exists. The conditions are formulated in terms of backward shifts of vector fields, defined by the system dynamics. The conditions are compared with those that allow additionally the regular static state feedback. The theory is illustrated by two examples

Nabla derivatives associated with nonlinear control systems on homogeneous time scales

The backward shift and nabla derivative operators, defined by the control system on homogeneous time scale, in vector spaces of one-forms and vector fields are introduced and some of their properties are proven. In particular the formulas for components of the backward shift and nabla derivative of an arbitrary vector field are presented

Transformation of nonlinear state equations into the observer form: Necessary and sufficient conditions in terms of one-forms

summary:Necessary and sufficient conditions are given for the existence of state and output transformations, that bring single-input single-output nonlinear state equations into the observer form. The conditions are formulated in terms of differential one-forms, associated with an input-output equation of the system. An algorithm for transformation of the state equations into the observer form is presented and illustrated by an example