Linearization of affine systems based on control-dependent changes of independent variable

Resumo

To transform single-input affine systems into linear control systems, we suggest to use control-dependent changes of independent variable. We show that the use of such changes of variables in conjunction with feedback linearization enables one to linearize systems to which known linearization methods do not apply. We prove that a linearizing change of independent variable can be found by solving a system of partial differential equations. The approach developed in the paper is applied to the construction of solutions of terminal problems.