Ricerc@Sapienza

In this paper two classical problems of interest in control theory, namely disturbance decoupling and the design of Unknown Input Observers (UIO), are revisited in the context of linear hybrid systems in the presence of state-driven jumps, induced by multi-affine sets. Interestingly, the latter feature renders the overall problem intrinsically nonlinear, hence classical (geometric) conditions cannot be straightforwardly applied.

In this paper, we consider the problem of disturbance decoupling for a class of non-minimum-phase nonlinear systems. Based on the notion of partially minimum phaseness, we shall characterize all actions of disturbances which can be decoupled via a static state feedback while preserving stability of the internal residual dynamics. The proposed methodology is then extended to the sampled-data framework via multi-rate design to cope with the rising of the so-called sampling zero dynamics intrinsically induced by classical single-rate sampling.