We study the equivalence between a nonlinear self-dual model (NSD) with the Born-InfeldChern-Simons (BICS) theory using an iterative gauge embedding procedure that produces the duality mapping, including the case where the NSD model is minimally coupled to dynamical, U(1) charged fermionic matter. The duality mapping introduces a current-current interaction term while at the same time the minimal coupling of the original nonlinear self-dual model is replaced by a non-minimal magnetic like coupling in the BICS side.PACS numbers: 11.10. Kk, 11.10.Lm, 11.10.Cd This work is devoted to the study of duality symmetry in the context of the Born-Infeld-Chern-Simons (BICS) theory [1], a generalization of the self-dual and Maxwell-Chern-Simons (MCS) duality, firstly shown by Deser and Jackiw [2] long time ago using the formalism of master Lagrangian. To this end we shall adopt a new gauge embedding formalism [3,4] that is alternative to the master Lagrangian approach.Duality deals with the equivalence between models that describe the same physical phenomenon. This is a symmetry that is playing an important role in nowadays physics. It has received a spate of interest in recent research in diverse areas in field theory such as, supersymmetric gauge theories [5], string theories [6], sine-Gordon model [7], statistical systems [8] and, in the context of condensed matter models, applied for instance to planar high-T C materials, Josephson junction arrays [9] and Quantum Hall Effect [10]. The existence of such a symmetry within a model may well have interesting consequences -it can be used to derive (exact) non perturbative results since swapping opposite coupling constant regimes allows a perturbative investigation of theories with large coupling constants. Moreover, it may be used to obtain information on the corresponding phase diagram, as it has been done in [8] where the relevant duality symmetry has been related to the modular group which, in that context, can be viewed as a generalization of the old Z 2 Kramers-Wannier duality of the 2-dimensional Ising model.Another possibility, which is closely related to our interest here, is the odd-dimensional duality involving ChernSimons term (CST) [11], whose paradigm is the equivalence between Self-Dual and Maxwell-Chern-Simons theories in (2+1) dimensions. This is a very special situation since the presence of the topological and gauge invariant ChernSimons term is responsible for the essential features manifested by the three dimensional field theories, such as parity breaking and anomalous spin. It produces deep insights in unrelated areas in particle physics and condensed matter both from the theoretical and phenomenological points of view [12], as mentioned above. The high temperature asymptotic of four dimensional field theory models and the understanding of the universal behavior of the Hall conductance in interacting electron systems also stand as important illustrations of this topic.Investigations of duality equivalence in D=3 involving CST has had a long history. I...