Disturbance rejection in nonlinear systems: examples

Disturbance rejection can be achieved in certain nonlinear systems via differential geometric control methods. In the paper, examples are given to illustrate some of the theoretical results from this field. In particular, both static and dynamic systems are examined. A controller can be specified for certain static systems that will reject additive disturbances. A MIMO nonlinear model of a DC/AC convertor is used to illustrate various disturbance rejection results. Examples of SISO linearisation and MIMO disturbance rejection, linearisation and decoupling are given.