摘要：AbstractWe study nonlinear control systems x˙(t) = f(x(t)) + g(x(t))u(t) + d(x(t))w(t), y(t) = h(x(t)), wheref,g,d,hare polynomial functions. The outputyis called decouplable from disturbances if there exists a polynomial state feedback u(t) = α(x(t)) + β(x(t))v(t) with β as an invertible matrix, which renders the outputyinvariant under disturbances. The question whether this is possible leads to the concept of controlled invariant modules. We give algebraic characterisations to decide whether an output is invariant or decouplable and present algorithms to constructively verify these criteria by symbolic computational methods.
关键词：KeywordsNonlinear control systemsAlgebraic systems theoryState feedbackOutput invarianceDisturbance decoupling problem
