The disturbance decoupling problem for continuous piecewise affine systems

In this paper we study the disturbance decoupling problem for continuous piecewise affine systems. We establish a set of necessary conditions and a set of sufficient conditions, both geometric in nature, for such systems to be disturbance decoupled. Furthermore, we investigate mode-independent state feedback controllers for piecewise affine systems and provide sufficient conditions for the solvability of the disturbance decoupling problem by state feedback.