Exact Linearization in the Presence of Input Disturbances

Abstract

This paper is concerned with the stability of exact linearization in the presence of input disturbances. We derive a necessary and sufficient condition for a class of nonlinear systems to be asymptotically stabilizable against step disturbances by exact linearization. This result shows that stability of the linearized systems strongly depends on the choice of coordinates transformation when there exist input step disturbances. An illustrative numerical example is given.