ABSTRACT
A Feedback linearization is a common approach used in controlling nonlinear systems. The approach involves coming up with a transformation to the nonlinear system into equal linear system that could be controlled easily using a new input control. Feedback linearization could be applied to nonlinear systems of the form: Where is the state vector, is the vector of inputs, and is the vector of outputs. The goal is to develop a control input: That renders a linear input-output map between the new input v and the output. An outer-loop control strategy for the resulting linear control system can then be applied. The notion of the lie derivatives and how its calculated will be given in the subsequent sections. The control law for MIMO systems can be obtained using lie derivative. The aim of feedback linearization is to produce a transformation system whose states are the output y and its derivatives.
