Kybernetika

This note presents an exposition which unifies various (static or dynamic feedback) solutions given in the literature to the disturbance decoupling problem since the early development of modern nonlinear theory up to the end of the 70's. This is possible thanks to some recently introduced generalized transformations depending on a finite number of time derivatives of the input. In this way, some classical controlled invariant distributions can be replaced by a related elementary linear subspace by which a NSC for disturbance decoupling can be derived.