A sufficient condition for nonlinear noninteracting control with stability via dynamic state feedback

A sufficient condition is given to solve the problem of achieving local noninteracting control with asymptotic stability via dynamic state feedback for a nonlinear affine system. The condition, which is automatically satisfied in the case of linear systems, although only sufficient, is helpful in overcoming some of the geometric obstructions pointed out in the literature. An example, in which the author´ assumptions are satisfied, is given, clearly showing how to construct a decoupling and stabilizing dynamic state feedback and how the condition can weaken the requirement that the P* dynamics be locally asymptotically stable