A new algorithm for computing the linearization of multiple-input nonlinear control systems
一种新的多输入非线性控制系统线性化的计算方法

In practice, it is difficult to determine a coordinate transformation and a feedback for the linear approximation of a nonlinear system, even though the system is approximately feedback-linearizable. The reason is that it is necessary to solve a set of partial differential equations. An extended coordinate space is firstly introduced. A new matrix presentation is then presented for a general form of linearly controllable multiple-input nonlinear systems. Based on these preparations, we develop an effective constructive algorithm procedure with reduced computation for obtaining a coordinate transformation and the feedback. Finally a dynamic feedback-linearizable system is given as an example to illustrate the application.