Mathematical Problems in Engineering
Volume 2011 (2011), Article ID 205939, 17 pages
Research Article

Analysis of Exact Linearization and Aproximate Feedback Linearization Techniques

1Universidade Federal do Recôncavo da Bahia, Rua Rui Barbosa, No. 710, CEP 44.380-000—Cruz das Almas, BA, Brazil
2Post Graduate Program in Mechatronics, Universidade Federal da Bahia, Rua Aristides Novis No. 2, Federação, CEP 40.210—630—Salvador, BA, Brazil

Received 19 October 2010; Accepted 3 March 2011

Academic Editor: Bin Liu

Copyright © 2011 Gildeberto S. Cardoso and Leizer Schnitman. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a study of linear control systems based on exact feedback linearization and approximate feedback linearization. As exact feedback linearization is applied, a linear controller can perform the control objectives. The approximate feedback linearization is required when a nonlinear system presents a noninvolutive property. It uses a Taylor series expansion in order to compute a nonlinear transformation of coordinates to satisfy the involutivity conditions.