To the problem of control of nonlinear systems with directly immeasurable variables,An extended combined-inversions control method(ECICM)is presented in this paper.The right inversion systemis used to linearize a nonlinear system and the left inversion system is used to obtain the directly immeasurable variables such as the state variables and output feedback variables.In this paper,the left inversion system First,the nonlinear system can be linearized as well as decoupled to several independent integral subsystems using the right inversions system.A linear controller can be applied to the decoupled subsystems and the original nonlinear system decoupled controller is achieved.