We know that in vector spaces such a complementary substructure exists. But in this proof we took advantage of the fact that every vector space has a basis, ie. the subvectorspace has a basis and this basis then can be extended to a full basis of the whole vector space and then the basis vectors which are only in the extension create a basis for the desired complement.
In an $R$-module $M$, where $R$ is a principal ideal domain, we cannot use this argument with a basis, is it still possible to find a submodule $F$ such that every element of $M$ can be expressed as $x=f+t$ with $f\in F$ and $t\in T$ and that every such description is unique? If it is not true for the general case, how can it be true if $T$ is the torsion submodule of $M$?