This article explains about Feedback linearization control (FBL) method for control of a nonlinear system. This is one of the easiest strategy to control nonlinear systems, but pretty powerful. The basic idea is that we can cancel control input by manipulating control input. The below is its proof.
This is the most basic concept to explain easily. If the nonlinear system is not fully controllable, we should use another strategy which finds reduced order manifold (ROM). About the more advanced technique and examples will be explained in the next articles.
I am Youngmok Yun, and writing about robotics theories and my research.