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The tracking and almost disturbance decoupling problem of multi-input multi-output nonlinear systems based on the feedback linearisation approach are studied. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system is valid for any initial condition and bounded tracking signal with the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, that is, the influence of disturbances on the L2 norm of the output tracking error can be arbitrarily attenuated by changing some adjustable parameters. One example, which cannot be solved by the first paper of the almost disturbance decoupling problem on account of requiring some sufficient conditions that the nonlinearities multiplying the disturbances satisfy structural triangular conditions, is proposed to exploit the fact that the tracking and the almost disturbance decoupling performances are easily achieved by the proposed approach. To demonstrate the practical applicability, a famous half-car active suspension system has been investigated.
Control Theory and Applications, IEE Proceedings - (Volume:153 , Issue: 3 )
Date of Publication: 9 May 2006