Using control authority to transform nonlinear models into linear ones is one of the most commonly used ideas of practical nonlinear control design. Generally, the trick helps one to recognize \simple\nonlinear feedback design tasks
12.1 Systems with controllable linearizations A relatively straightforward case of local controllability analysis is defined by systems with controllable linearizations 12.1.1 Controllability of linearized system Let To: 0, THR, uo: 0, T]H Rm be a
