摘要：AbstractFeedback linearization of a nonlinear system is an actively employed technique to control a nonlinear system. Feedback linearizability of continuous-time systems is generally not preserved under sampling and is dependent upon the choice of discretization method. This paper modifies the set of necessary and sufficient conditions for feedback linearization given by Grizzle (1986), so they can be employed for implicitly described discrete-time control system and using them establishes an equivalence between the discrete-time feedback linearizability of the Implicit and Explicit Euler discretization schemes.
关键词：KeywordsNonlinear controlNumerical MethodsRoboticsFeedback LinearizationDiscrete Time SystemsSampled SytemsEulerian Discretization
