Disturbance decoupling of switched nonlinear systems

The disturbance decoupling problem of switched nonlinear systems with arbitrary switching law is investigated by first considering the invariant and weak-invariant distributions of switched nonlinear systems. Based on the invariant distribution, the disturbance decoupling problem under two kinds of switching information is considered, using switch-dependent and switch-independent feedback. Sufficient conditions are obtained for solving the problem. An algorithm for the largest invariant distribution contained in the kernel of outputs is presented.