This paper discusses the problem of using feedback and coordinates transformation in order to transform a given nonlinear system with outputs into a controllable and observable linear one. We discuss separately the effect of change of coordinates and, successively, the effect of both change of coordinates and feedback transformation. One of the main results of the paper is to show what extra conditions are needed, in addition to those required for input-output-wise linearization, in order to achieve full linearity of both state-space equations and output map.
['Daizhan Cheng', 'Alberto Isidori', 'W. Respondek', 'Tzyh Jong Tarn']
Exact linearization of nonlinear systems with outputs