Generalized controlled invariance for nonlinear systems: further results

A general setting is developed which describes controlled invariance and conditioned invariance for nonlinear control systems and which incorporates the previous approaches dealing with controlled or conditioned invariant (co-)distributions. A special class of controlled invariant subspaces, called controllability cospaces, is introduced. These geometric notions are shown to be useful for deriving a (geometric) solution to the disturbance decoupling problem by dynamic state feedback or dynamic output feedback