Nonlinear system control based on feedback linearization and equilibrium manifold

For a nonlinear system, the state feedback in the feedback linearization is reconstructed on the equilibrium manifold which is parameterized by a scheduling variable. So that, compared with the former state feedback, the corrected state feedback is independent on the unmeasurable states, which could greatly decrease cost of the whole control system and is easier to realize, because it does not require some additional equipment to measure those unmeasurable states and has a simpler form.