Noninteraction via measurement feedback for nonlinear systems with relative degree

This is a condensed version of a more detailed paper, in which several necessary and su cient geometric conditions are given for achieving noninteraction via measurement feedback for nonlinear systems with vector relative degree. The role of connections in solving this problem is clari ed and systematic procedures for constructing a decoupling feedback law are given. The issues of globality of the decoupling laws is also discussed