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260 IEEE TRANSACTIONS ON AUTOMATIC CONTROL. m m 1971 CONCLUSION REFERENCES [I] Z . V. Rekasius. "Decoupling of multivariable systems by meam of state variable first time the problem of nonlinear decoupling in generality and [2] P. L. Falb and W . A. Wolovich. "Decoupling in the desig and synthesis Of multivariable control syslems,'* IEEE Trans. Arrromat. Contr.. vol. AC-12. Dec. 1967.systems through Definition 1. The results, however, are rather restrictive. P I E. Gilbert. "The decoupling of multivariable systems by sfate feedback." S I A M J.The most significant contribution of this paper is that it tackles for the feedback," P~O C . 3rd ANerton Conf., Monticello, 111.. 1965. pp. 4 3 9 4 8 . that it provides a criterion to distinguish between coupled and noncoupled pp. 651459.because of the strong requirement that the "reduced linear system" be ~4 1 w, M , Wonham and A, s, Morse. -Decoupling and pole in linear multidecouplable. variable systems: A geometric approach." SIAM J.Abstract-The use of the extended Kalman filter as an approximate estimator for the states and parameters of nonlinear systems is weU known. A decomposition is pointed out in this letter, which is possible with the usual augumentations of the state space by parameters, and which may lead to a more efficient computing algorithm.

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