Abstract
Nonlinear output injection in a nonlinear object can be used to linearization of system and, consequently, to apply linear methods of synthesis. To find such a control, in which, the original non-linear model is transformed not to approximate, but to an equivalent linear model by using feedback linearization. There are various ways of feedback linearization. In this article, let us consider two examples linearization obtained on the basis of structural transformation model. This approach provides visibility of the method, because the same model can be represented by different, equivalent to each other species, in this case, we will work to ensure that the block containing the nonlinearity explicitly dependent on control, and linearization is the result system to since three integrator and the integrator. It will not be considered itself the regulator in this article, since the main task is the linearization. You will be shown some of the limitations of the use of linearization by output injection trigonometric functions.

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