The inverted decoupling based control is deemed as a simple and efficient method in industry. But it suffers from two problems, i) the Right-half Plane (RHP) zero in the multivariable system may lead to unstable decoupler elements; ii) The closed-loop performance is sensitive to the modelling uncertainties. To this end, this paper utilized adverse Maclaurin approximation to handle the RHP zero. Furthermore, the active disturbance rejection controller is adopted as an outer-loop controller to improve the robustness. The simulation results demonstrate the efficiency of the proposed method.