The geometric approach to control system design: A tutorial introduction to a few of the main ideas

In this talk we will discuss in a tutorial fashion some of the main applications of the geometric approach to control system design. We will briefly review the notions of controlles invariant, conditionally invariant, and controllability subspaces. Further, their ´almost´ counterparts and the notion of (A,B,C)- pairs. We will show how these concepts yield the solution of the disturbance decoupling and of the non-interacting control problem.