Disturbance decoupling with stability for nonlinear systems using static/output feedback: A geometric approach

In this dissertation, the problem of disturbance decoupling with stability for nonlinear systems using decentralized static state or output feedback is defined and solved using differential geometry as a tool. In the past few years differential geometry has proved to be an effective means of analysis and design of nonlinear control systems as it was in the past for the Laplace transform, complex variable theory and linear algebra in relation to linear systems. The geometric approach has proved to be very effective in simplifying and solving many problems in linear systems. A primary advantage of this approach is the formulation of the results in terms of very simple concepts that give the feeling of the problems not masked by heavy and misleading mathematics.; The same problem was defined and completely solved using the geometric approach for linear systems. This dissertation is based on the idea the geometric concepts defined on linear systems can be extended and generalized using differential geometry so that they can be defined and applied on nonlinear systems.; In this dissertation, necessary conditions and sufficient conditions on the solvability of the problem mentioned above are stated and proved. Sufficient conditions provide a constructive way for solving the problem. Mathematical examples and engineering examples are also provided at the end to show that the theoretical results achieved can be easily checked and verified. In addition, these results lead to a solution that can be easily implemented from an engineering point of view.