Generalised decoupled-control synthesis for invertible nonlinear systems

Sufficient conditions for decoupling-control synthesis using state-variable feedback and precompensation are presented for a class of invertible nonlinear systems which does not satisfy the decoupling conditions available in the literature. For a certain class of systems which are invertible for restricted control inputs, a characterisation of external command input space is presented for which the closed-loop system is decoupled. An example of decoupling of a noninvertible nonlinear system with restricted control is presented.