Published in Tall, I. A. (2010). Feedback linearizable feedforward systems: A special slass. IEEE Transactions on Automatic Control, 55(7), 1736-1742. doi: 10.1109/TAC.2010.2048051. ©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.


The problem of feedback linearizability of systems in feedforward form is addressed and an algorithm providing explicit coordinates change and feedback given. At each step, the algorithm replaces the involutive conditions of feedback linearization by some, easily checkable. We also reconsider type II subclass of linearizable strict feedforward systems introduced by Krstic and we show that it constitutes the only linearizable among the class of quasilinear strict feedforward systems. Our results allow an easy computation of the linearizing coordinates and thus provide a stabilizing feedback controller for the original system among others. We illustrate by few examples including the VTOL.