Measurement feedback disturbance decoupling in discrete-time nonlinear systems

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The paper studies the disturbance decoupling problem by the dynamic measurement feedback for discrete-time nonlinear control systems. To address the problem the algebraic approach, called the algebra of functions, is applied, which allows the system description also depend on non-differentiable functions. A necessary and sufficient condition is given in terms of controlled and (h,f)-invariant functions. Also, algorithms are derived, which find invariant functions and the required feedback. The algorithms are implemented in Mathematica software which is made available over the internet.