In analogy with the dynamic input-output decoupling problem the dynamic disturbance decoupling problem for nonlinear systems is introduced. A local solution of this problem is obtained in the case that the system under consideration is invertible. The solution is given in algebraic as well as in geometric terms. The theory is illustrated by means of two examples: a mathematical one and an example of a voltage frequency controlled induction motor.
Huijberts, H. J. C., Nijmeijer, H., & vd Wegen, L. L. M. (1992). Dynamic disturbance decoupling for nonlinear systems. SIAM Journal on Control and Optimization, 30(2), 336-349. https://doi.org/10.1137/0330021