A method of decoupling linear time-invariant multivariable systems, which cannot be decoupled by proportional state feedback, but are invertible, is presented in this paper. A design procedure is developed for pre-compensating such a system, so that the augmented system satisfies the condition of state feedback decoupling. An expression for evaluating the order of the compensator is derived, and an algorithm described to compute the parameters of the compensator by solving a set of simultaneous linear equations. The flexibility in the choice of compensator dynamics is illustrated.