On linear dynamic state feedback decoupling

In this paper the dynamic state feedback decoupling is solved. The transfer matrix approach turns out to be relevant for this purpose. Roughly speaking the dynamic state feedback decoupling is solvable if the number of inputs is large enough to compensate the intrinsic "non decouplability" of the system. Some new decoupling invariants are introduced. These invariants are usefull for characterizing the minimal Mac Millan degree achievable for the decoupled system.