An advanced algorithm based on differential algebra for disturbance decoupling of nonlinear systems

The behaviour of nonlinear systems can be affected by undesired inputs $the disturbances. To decrease or to decouple the influence of those disturbances this paper presents an advanced algorithm which solves the disturbance decoupling problem. Based on the mathematical foundations of differential algebra, the algorithm determines if a system is decouplable or not and which disturbance decoupling controller can be applied. The algorithm is restricted to rational systems. For handling analytical systems, a system transformation is introduced in order to receive a rational substitute system. The disturbance decoupling problem can then be solved for this substitute system.