On the Use of Freedom in Change of Coordinates for Exact Linearization

Abstract

This paper is concerned with the use of freedom in the exact linearization technique. First, the freedom of the change of coordinates and nonlinear state feedback in the exact linearization is clarified. Second, the relation between the original nonlinear system and the corresponding linearized system is examined to see the effect of the use of freedom in the change of coordinates. Finally, we give numerical examples with simulation to show how to use the freedom.