A general setting is developed which describes controlled invariance for nonlinear control systems and which incorporates the previous approaches dealing with controlled invariant (co -) distributions. A special class of controlled invariant subspaces, called controllability cospaces, is introduced. These geometric notions are shown to be useful for deriving a (geometric) solution to the dynamic disturbance decoupling problem and for characterizing the so-called fixed dynamics for noninteracting control. These fixed dynamics are a central issue in studying noninteracting control with stability. The class of quasi-static state feedbacks is used.
Huijberts, H. J. C., Moog, C. H., & Andiarti, R. (1997). Generalized controlled invariance for nonlinear systems. SIAM Journal on Control and Optimization, 35(3), 953-979. https://doi.org/10.1137/S0363012994277190