The discrete-time nonlinear dynamic disturbance decoupling problem with partially measurable disturbances

The paper studies the discrete-time nonlinear dynamic disturbance decoupling problem with partially measurable disturbances. The solution is formulated in terms of the notion of generalized controlled invariance with respect to the quasi-static state feedback which incorporates the earlier definition of controlled invariance with respect to the regular static state feedback. The proposed solution is a natural generalization of the geometric solution of the static disturbance decoupling problem