Higher order approximate feedback linearization about a manifold for multi-input systems

Considers the problem of approximately feedback linearizing a multi-input nonlinear system around the equilibrium manifold /spl epsi/ while making the error terms be of highest order on /spl epsi/. Necessary and sufficient conditions are given for approximately feedback linearizing the system around /spl epsi/ with error terms of order /spl rho/ on /spl epsi/. A simple multi-input example is given to illustrate the higher order approximate feedback linearization procedure.<
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