This paper is based on state space model of the system. For the situation of the system completing disturbance decoupling by using dynamic output feedback,the condition of robust disturbance decoupling is given.
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陈涌.干扰解耦的鲁棒性[J].国防科技大学学报,1990,12(2):68-72. Chen Yong. The Robustness of Disturbance Decoupling[J]. Journal of National University of Defense Technology,1990,12(2):68-72.