Ann × nnon-linear multiple-input multiple-output systemWis presented, known only to belong to a set {W}.Wis embedded in a two-degree-of-freedom feedback structure, {r} is a set of possible command inputs, where for eachr∈ {r} there is a set {Ar} of acceptable outputs. The two degrees of freedom have to be selected such that in response to each command inputr, the plant's outputy∈ {Ar} for allW∈ {W}, A design technique is presented for solving this problem, based on the Horowitz design method for MIMO linear time invariant feedback systems. Sufficient conditions are given under which a solution is guaranteed. A design example is provided.