Freedom in coordinates transformation for exact linearization and its application to transient behavior improvement

This paper is concerned with the use of freedom in the exact linearization technique. First, the freedom of the coordinates transformation and nonlinear state feedback in the exact linearization is clarified as the preparation for its use. Second, we consider the transient behavior improvement in the presence of impulsive disturbances. Finally, we give a numerical example and an experiment with a magnetic levitation system to show how to use the freedom and to show the effectiveness of this method.