Almost disturbance decoupling for a class of minimum-phase higher-order cascade nonlinear systems (Q1887372)

In one long proof the authors solve the almost disturbance decoupling problem (ADD) with stability for a class of nonlinear systems. By ADD with stability one means that for all \(\varepsilon>0\) there exists a state feedback law which is globally asymptotically stabilising for the system and is such that the norm of the output is less than \(\varepsilon\) times the norm of the disturbances. The nonlinearity of the system is assumed to be smooth and polynomially bounded. The condition which is harder to check is the assumption that there exists a Lyapunov function having certain properties.