Control

Feedback Linearization

Feedback linearization is a nonlinear control technique that algebraically cancels a system's nonlinear dynamics through state feedback and a coordinate transformation, rendering the closed-loop input-output behavior exactly linear so that standard linear controllers can be applied. For fully actuated manipulators it appears as computed torque control, which inverts the rigid-body dynamics model. The method requires an accurate dynamics model and full state measurement, and degrades under model mismatch.

Why it matters for physical AI

Model-based cancellation of dynamics remains a workhorse for precise arm tracking, and its sensitivity to modeling error motivates hybrid schemes where learned residual models correct the nominal dynamics.