Disturbance decoupling in a class of linear systems

The disturbance decoupling problem (DDP) is solved for a class of linear systems where the left-invertible systems are included. The authors obtain a complete characterization of the solution, as well as the parameterization of all corresponding state feedback matrices. Such characterization enables one to conclude about the solvability of DDP with stability and/or pole placement. A numerical method is proposed for computation of the controllers in an analytical form, suitable to the treatment of complementary design specifications.