LINEARIZATION BY GENERALIZED INPUT-OUTPUT INJECTION

The problem under interest is the linearization of nonlinear MIMO syst ems by generalized input-output injection in order to design observers with linear error dynamics. The method is based on the study of the s tructure of the input-output differential equations; thus, the problem is solved as a realization problem. In this note, one considers the l inearization under two kinds of input-output injection. In the first c ase, the transformation depends on the output and time derivatives of the input, whereas in the second case, derivatives of both the input a nd the output are considered. Necessary and sufficient conditions are obtained which generalize the ones on standard input-output injection linearization. (C) 1997 Elsevier Science B.V.