Attractive invariant submanifold-based coupling controller design

In this paper, we provide an algorithm for the design of a coupling controller for a nonlinear input-affine system. The resulting controller renders the maximal locally controlled invariant output-nulling submanifold locally attractive for the controlled system. The connections to the constrained dynamics algorithm and the triangular decoupling problem are presented, and necessary and sufficient conditions for the success of the new algorithm are derived.