The problem of input-output decoupled linearisation of a general non-linear system = f(x, u), y = h (x) is studied. By defining an affine approximation, the solution of this problem is related to the established results of affine non-linear systems. An algorithm is given to compute the non-linear feedback for input-output decoupled linearisation. Under the standard assumptions, a condition for feedback stabilisation is also obtained.
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