Abstract
In this paper, the output disturbance decoupling problem (ODDP) for a single input single output (SISO) nonlinear systems with time delay in state variable is studied. The time delay operator is addressed and used to describe the nonlinear time delay systems. Then, the necessary and sufficient conditions for ODDP are achieved by applying extension Lie derivative and extension Lie bracket, and the input-output linearization of decoupling subsystem is also realized at the same time. Furthermore, two decoupling feedback control algorithms under the disturbance is available and unavailable for measurements are discussed. At last, the effectiveness of algorithms is verified by an illustration.
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