1 Answers
Feedback linearization is a common strategy employed in nonlinear control to control nonlinear systems. Feedback linearization techniques may be applied to nonlinear control systems of the form
where x ∈ R n {\displaystyle x\in \mathbb {R} ^{n}} is the state, u 1 , … , u m ∈ R {\displaystyle u_{1},\ldots ,u_{m}\in \mathbb {R} } are the inputs. The approach involves transforming a nonlinear control system into an equivalent linear control system through a change of variables and a suitable control input. In particular, one seeks a change of coordinates z = Φ {\displaystyle z=\Phi } and control input u = a + b v , {\displaystyle u=a+b\,v,} so that the dynamics of x {\displaystyle x} in the coordinates z {\displaystyle z} take the form of a linear, controllable control system,