Approximating linearizations for nonlinear systems (Q1090650)

A classical way of studying a nonlinear control system \(\dot x=f(x)+g(x)u\) is approximating it by an appropriate linear system. Around an equilibrium point \(x_ 0\) most often one choses the linearization at \(x_ 0\) of the nonlinear system as a first order approximation. In this paper another linear approximation based on the Lie brackets of the nonlinear system, is proposed. It is shown that in suitable state space coordinates both approaches render the same linear approximation.