Disturbance decoupling, output tracking and state estimation for a class of nonlinear systems

We present a nonlinear control scheme that permits to solve, at the same time, the disturbance decoupling and output trocking problems for a class of nonlinear systems. The control scheme proposed needs a state vector observer so, a minimal nonlinear observer is included in the control structure. The nonlinear control law, with the observer included, was applied to the model of binary distillation column.