Further results on disturbance attenuation for multiple input multiple output nonlinear systems

The problems of disturbance attenuation and almost disturbance decoupling play a central role in control theory. In this paper, by employing a recently discovered structural decomposition of multiple input multiple output nonlinear systems and the backstepping procedures that were developed based on the structure of the decomposed system, we show that these two problems can be solved for a larger class of nonlinear systems.