摘要：The article deals with the issue of input-state linearization of the mechanical systems. The introductory part of article contains theory about exact linearization that we used. Further we explained the basic principle and procedure of input-state linearization. Then it contains the determination of state space for mechanical systems, the computing of vector fields, the investigation of controllability and involutivity of the systems and the calculation of input and state transformation.
关键词：input-state linearization; state space; vector field; Lie bracket; mechanical system with one degree of freedom; one-link manipulator
