A Numerical Approach for Approximate Feedback Linearization

We present a numerical approach to study the approximate feedback linearisation of nonlinear systems which do not satisfy the restrictive conditions for feedback linearisation. Most of the previous work require derivatives of the vector fields of the nonlinear systems. We formulate this problem as an optimisation problem. This approach does not require any derivatives of the system vector fields. The resulting approximate system can be used to develop a tracking control law for the original system.