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A high-gain observer-based control law minimum-phase linear syctems i s proposed. This con-1 law provides internal stability for the closed-loop svstem and has almost disturbance decoupling property, t h a x i s , the influence of the disturbances on t h e cont r n l i e d o u t p u t can be made a r b i t r a r i l y s m a l l .

SUMMARYA generalized g-level H 1 sub-optimal input decoupling (SOID) filtering problem is formulated. It is a generalization of g-level H 1 SOID filtering problem when, besides an input with unknown statistical properties but with a finite RMS norm, there exists an additional input to the given plant or system. The additional input is a linear combination of sinusoidal signals each of which has an unknown amplitude and phase but known frequency. The analysis, design, and performance limitations of generalized H 1 optimal filters are presented.