It is known that the linear multivariable system is decouplable by the static state feedback if and only if its interactor is a diagonal matrix. When the system does not have a diagonal interactor, it is always possible to design the precompensator such that the total system has a diagonal interactor. In this paper, we apply this technique to nonlinear multivariable systems with unknown parameters whose interacotors are not diagonal. First, a precompensator for a diagonal interactor is designed in the generic sense so that decoupled output error equations are obtained. Then, this extended system can be decoupled adaptively by using MRACS technique.
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