关于串联非线系统的几乎干扰解耦问题

研究了一类具有零动态的高阶串联系统的几乎干扰解耦问题，将加幂积分器的技巧与推广的引理巧妙地结合，构造了一个光滑静态反馈控制器，从而保证闭环系统在内稳定的 基础上，使系统达到干扰衰减。

A Note on Almost Disturbance Decoupling Problem for Cascaded Nonlinear Systems

The problem of almost disturbance decoupling(ADD) with internal stability is studied for a class of high-order cascaded nonlinear systems having a zero dynamics. Utilizing adding a power integrator technique which has the advantage of existing methods and the extended Lemma,the smooth static state feedback controller is explicitly constructed.Further,the ADD problem of systems (1),where the level of disturbance attenuation can be made arbitrarily small for all allowed uncertainties,is also addressed.