Transformations for reducing steady state error due to uncertain disturbance biases

In this note, we will consider the challenging problem of reducing the steady state error of a system resulting from an unknown but bounded disturbance bias. The state is assumed measurable, and the method proposed uses a nonlinear metric based transformation with pole placement for the compensator design. The results are compared to the well know linear quadratic regulator with the identical physical realization. Although this research is ongoing and some of the proofs are merely outlined, these results do not appear to be restricted to linear systems or biases through control signal inputs, and generally applicable to any bounded exogenous disturbance uncertainty.