Almost Disturbance Decoupling Problem And Singularly Perturbed Systems Of Nonlinear System Output Regulation Problem

Firstly, the robust adaptive control of H* almost disturbance decoupling problem with stability for uncertain nonlinear systems, which are of cascaded-like structure, is defined and investigated. Using the back-stepping method as a basic design tool, we show how to explicitly construct, in a recursive manner, a smooth adaptive controller, which ensures that the influence from the disturbance to the controlled output can be arbitrarily small, and the internal system is asymptotically stable.In the second part of this paper, the state feedback regulator problem of nonlinear singularly perturbed systems is discussed. It is shown that, under reasonable assumptions, this problem is solvable if and only if a certain nonlinear partial differential equation is solvable. Once this equation is solvable, the state feedback regulator can easily be constructed.