I would like to linearize my nonlinear MIMO system (I use this model for reference tracking purposes), but it doesn't fulfill the requirement of feedback linearization. Are there any alternative methods to linearize this system?
Hello
Why don't you use the first-order Taylor series approximation of your dynamical system around the nominal trajectory?
Maybe you can look at section 8.1.1 of the online version of the following book by Ruth Tedrake:
http://underactuated.csail.mit.edu/index.html
That aside, if you had difficulty with linearizing your system based on the mentioned approach, I recommend using the symbolic toolbox of MATLAB.
Good luck
You can use an exact linearization. Depending upon the control objective, Two different exact linearizations are possible: 1) Input-to-State Linearization 2) Input–output Linearization. For your case, input–output Linearization with Lie derivative transformation can be used.
Dear Brilian Putra Amiruddin,
I suggest you to see link and attached files on topic
.
https://jp.mathworks.com/matlabcentral/mlc-downloads/downloads/submissions/7873/versions/2/previews/help/exaktmimo.html
Best regards
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