On the geometry of 2D systems

The authors propose a geometric theory for 2-D systems, based on suitable notions of controlled invariance and conditional invariance. In addition to specific results on disturbance decoupling, model matching and output controllability problems, this approach provides a better insight into the structural properties of a 2-D system. Namely, it makes it possible to introduce a set of invariants and a dynamics which, in the 2-D framework, play the role of the zeros at infinity and of the zero-dynamics of the classical linear systems.<
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