A notion of approximate noninteracting control with stability for nonlinear systems is introduced, and the design of both static and dynamic state-feedback control laws that achieve this property for a given plant is considered. This approach to the problem is based on the notion of extended linearization, and begins with an extension of the linearization approach pointwise to all constant operating points in an open neighborhood of the nominal. Under natural assumptions it is shown that obstructions to extract noninteracting control with internal stability, or input-state/output stability, can be circumvented in the context of approximate noninteraction.
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