Solution of the Almost Disturbance Decoupling Problem by state feedback

This paper is concerned with the solution of the Almost Disturbance Decoupling Problem(ADDP) by static state feedback. In [1], the authors have proposed a quick solution for the single control input and (A, B) controllable system based on the characteration of fixed poles of ADDP. As a complement, here, we will give the algorithm for general case (i.e. without any controllability assumption) by characterazing the fixed poles of ADDP for non-(A, B) controllable system. An example is proposed to illustrate our contributions.