Nonlinear Morgan´s problem: case of (p+1) inputs and p outputs

Noninvertible static state feedback solutions of the row-by-row decoupling problem are investigated for the class of nonlinear systems having one more input component than output components. The analysis involves a combination of geometric and algebraic tools, but notably avoids the use of (regular or degenerate) controllability distribution (subspaces), the main tools used to date for the class of linear systems. The main idea is finding within the system a chain of integrators that may be attached to one of the inputs in order to appropriately modify the system´s structure at infinity