Approximate linearization of nonlinear control systems (Q1333848)

The paper examines approximate linearization of systems \(\dot x = f(x) + g(x)u\), namely affine in the control, and output \(y = h(x)\). Approximation here means diffeomorphic input-output feedback transform that yields a linear system with a perturbation of order, say, \(d + 1\). Then the approximation is of degree \(d\). Exact input-output linearization is an established area, with interesting applications in design. The paper establishes sufficient conditions for the approximate linearization, and displays an interesting simulated application to nonlinear tracking.