Disturbance decoupling of uncertain nonlinear delayed systems

The disturbance decoupling problem is investigated for a class of uncertain delayed nonlinear systems, and a sufficient and necessary condition, under which the output is completely decoupled from the disturbance, is acquired. When the disturbance is measurable, a variable structure decoupling control design scheme is proposed based on the neural network. The scheme utilizes the ability that a neural network can arbitrarily approach a nonlinear function, then introduces a compensation part for the disturbance in the control. Thus the systems can keep the stability and good performance even when the disturbance doesn´t satisfy the decoupling condition. Effectiveness of the proposed scheme is tested by an illustrative example.