Partial decoupling in a class of nonlinear control systems

The letter treats a class of nonlinear control systems in state-space form. The problem considered is that of choosing two nonlinear feedback matrix functions F(x, t) and G(x, t) which decouple a candidate subset of the output set. The conditions under which this problem has a solution are derived and the procedure for computing the two nonlinear State feedback gain matrix functions required is given. An illustrative example is fully worked out.