From next season matches may be played on either natural grass or artificial pitches, according to the rules of the relevant competition and as long as the artificial turf meets Fifa standards.
The decision to put a limit on the number of subs in friendly internationals was opposed by England coach Sven-Goran Eriksson.
Eriksson, who has changed his entire team during friendlies in the past, had contacted several other international coaches including Italy's Giovanni
Trapattoni and France's Jacques Santini to enlist their support.
The England coach's decision to make 11 substitutions against Australia last year was met with disapproval by Fifa president Sepp Blatter.
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But FA Chief Executive Mark Palios accepted the decision: "We supported the position of our coach
but we recognise the democracy of the meeting and that our views did not
prevail," he said.
Fifa's submission to the Ifab said: "The practice of making large numbers of substitutions in friendly matches devalues the game and creates a farcical
situation.
"The number of substitutes used in friendly matches must be controlled."
Fifa wanted to impose a maximum of five substitutes but agreed to compromise on the rule.
The England, Scotland, Wales and Northern Ireland FAs all have a voting place on the Ifab with Fifa also having four votes.
Any rule change needed at least six of the eight votes to become law.