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For a class of nonlinear systems we derive a necessary and sufficient condition for the existence of a state variable feedback control law which accomplishes decoupling, as well as some conditions which characterize the class of decoupling control laws. Several examples are presented to illustrate the application of these results. For a special subclass which includes the so-called bilinear systems, we give two equivalent forms of the necessary and sufficient condition.
Singh et al. (Fri,) studied this question.