Almost disturbance decoupling for single-input single-output nonlinear systems

The almost disturbance decoupling problem for nonlinear single-input single-output systems is addressed by using singular perturbation methods and high-gain feedback. Sufficient conditions and the explicit high-gain nonlinear state feedback in solvable cases are given. They generalize both previous almost results for linear systems and exact ones for nonlinear systems. The necessity of the conditions is discussed; in particular, an example is given where the main structural condition is not satisfied and the high-gain control designed on the basis of linear approximations fails to achieve almost disturbance decoupling for the original system