A technique applicable to redundantly actuated, feedback linearizable systems

A class of systems that require special consideration when feedback linearization is applied is identified. The systems are characterized by redundancy in the actuation system. A linearizing transformation will decouple the subsystems corresponding to the redundant actuators from the system which it is of interest to control. Depending on the physical situation, linear control laws derived in this way may not yield reasonable results. A simple, alternative method for resolving the redundancy issue in these systems is described