Geodesic
A geometric solution to the dynamic disturbance decoupling for discrete-time nonlinear systems
Kybernetika, Tome 40 (2004) no. 2, p. [197].

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The notion of controlled invariance under quasi-static state feedback for discrete-time nonlinear systems has been recently introduced and shown to provide a geometric solution to the dynamic disturbance decoupling problem (DDDP). However, the proof relies heavily on the inversion (structure) algorithm. This paper presents an intrinsic, algorithm-independent, proof of the solvability conditions to the DDDP.
Classification : 58A10, 93B25, 93C10, 93C55
Keywords: controlled invariance; dynamic state feedback; disturbance decoupling; differential forms 
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     author = {Aranda-Bricaire, Eduardo and Kotta, \"Ulle},
     title = {A geometric solution to the dynamic disturbance decoupling for discrete-time nonlinear systems},
     journal = {Kybernetika},
     pages = {[197]},
     publisher = {mathdoc},
     volume = {40},
     number = {2},
     year = {2004},
     mrnumber = {2069178},
     zbl = {1249.93120},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/KYB_2004__40_2_a2/}
}
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Aranda-Bricaire, Eduardo; Kotta, Ülle. A geometric solution to the dynamic disturbance decoupling for discrete-time nonlinear systems. Kybernetika, Tome 40 (2004) no. 2, p. [197]. http://geodesic.mathdoc.fr/item/KYB_2004__40_2_a2/