The regular local noninteracting control problem for nonlinear control systems

We study the Noninteracting Control Problem for affine nonlinear control systems under the assumption that the number of scalar inputs equals the number of vector outputs. Our purpose is to find a static feed-back law for the system which achieves noninteraction. Using the recently developed differential geometric approach to nonlinear systems theory and working under a set of regularity assumptions, we give necessary and sufficient conditions for the local solvability of the problem. This work extends earlier results in the "geometric approach" for linear systems.