Feedback linearization
The paper contains a survey of recent results on the linearization problem for finite-dimensional, time-invariant, nonlinear control dynamical systems. Using the methods of differential geometry, especially Lie brackets and vector fields, several conditions for feedback linearization, approximate feedback linearization and control system inversion are presented. Normal forms of control systems and nonlinear regulation problems are also investigated. Moreover, the relationships to nonlinear controllability and nonlinear observability problems are also pointed out. The paper contains several remarks and comments on the different aspects of linearization problems for nonlinear control systems. Theoretical results are illustrated by simple numerical examples. Finally an extensive list of references is given. For the entire collection see [Zbl 0904.00033].
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