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IMA Journal of Mathematical Control and Information 1994 11(1):1-23; doi:10.1093/imamci/11.1.1
© 1994 by Institute of Mathematics and its Applications
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Decoupling problems around a trajectory: from linearity to nonlinearity

A.C. RUIZ and H. NUMEIJER

Department of Applied Mathematics, University of Twente P.O. Box 217, 7500 AE Enschede, The Netherlands

Given a nonlinear control system for which an admissible state trajectory is specified, we solve approximately the input output decoupling problem around this nominal trajectory. An approximate solution for this problem is obtained by dealing with the linearized system along this trajectory. An exact solution to the input output decoupling problem for the linearization is shown to be an approximate solution to the input output decoupling problem around the nominal trajectory for the original nonlinear system. In a similar way, we provide an approximate solution to the disturbance decoupling problem around a specified trajectory of the nonlinear system. The nonlinear model of a two link robot manipulator is used to illustrate the results on input output decoupling.


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