On nonregular feedback linearization
The problem of nonregular static/dynamic feedback linearization of affine (with respect to the control) nonlinear systems is considered. An example is presented that is nonregularly static linearizable, but is not regularly dynamic feedback linearizable. A necessary condition and a sufficient condition for nonregular static feedback linearization are given and a class of systems that are not linearizable via any dynamic compensators is characterized. The main result is the sufficient condition. It is easily checkable. Moreover, its proof indicates a recursive procedure (whenever some suitable conditions are satisfied) to design the desired control law.
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