Just in the form of dx/dt=f(x)+g(x)*u? Are there no other specifications?
Li, you may find an answer following a very usefull discussion on ¨What does "affine in the control" mean when used to describe a system?¨ Find it, very interesting.
A nonlinear system in which the input appears linearly, considering following examples:
1. dx/dt = x^2+2u (affine)
2. dx/dt=x^2+u^2 (nonaffine)
Hi, a very usefull discussion in the following link
https://www.researchgate.net/post/What_does_affine_in_the_control_mean_when_used_to_describe_a_system
Please refer to this article:
https://www.researchgate.net/publication/324609461_A_novel_second-order_nonlinear_differentiator_with_application_to_active_disturbance_rejection_control
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