Sigurd Skogestad, Cristina Zotica, Nicholas Alsop.
"Transformed inputs for linearization, decoupling and feedforward control"
Journal of Process Control 122 (2023) 113-133
This tutorial paper gives a very simple and effective way for designing nonlinear feedforward, decoupling and linearization elements.
Just select the transformed input (controller output) as the right-hand-side of the steady state model equation for the output y.
Or use a simpler variant if you just needs parts of the benefits.
The method is not new, but not well known, at least not in academia.
There is also a dynamic version of the method, which turns out to be a special case of the nonlinear control method called feedback linearization.