Abstract
For the case of a linear time invariant system with nonlinear uncertain structure the problem of robust triangular decoupling with simultaneous robust disturbance rejection (RTDRDR) is studied. The necessary and sufficient conditions for the solution of the RTDRDR problem are established. The general expressions for the feedback matrices solving the problem are derived in analytic form. The resulting closed-loop system, being triangularly decoupled and having no influence from the disturbances to the output, is analytically determined. For the solution of the RTDRDR problem with simultaneous robust stability, sufficient conditions are established. The present results are successfully applied to control a vertical take-off and landing aircraft in hover.
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