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

The author presents a sufficient condition for solving the problem of achieving local noninteracting control with asymptotic stability via dynamic state-feedback for a nonlinear affine system. This condition, which is automatically satisfied in a linear system, although only sufficient, is helpful in overcoming some of the geometric obstructions recently pointed out in the literature. It is also shown that for the class of square right-invertible systems one can first apply the dynamic extension algorithm in order to get some relative degree and then check if the conditions are satisfied on the dynamically extended system