非线性系统的线性化

对于非线性系统，不同位置 线性化 所得到的线性系统是不同的。

由

$$\begin{array}{rl}{x}_{k+1}& =(I+T_s{A}_c)x_k+T_s{B}_c{u}_k+T_s{g}_c\\ & =A_k{x}_k+B_k{u}_k+g_k\end{array}$$

得到

$$\begin{array}{rl}{x}_1& =A_0{x}_0+B_0{u}_0+g_0\\ x_2& =A_1{x}_1+B_1{u}_1+g_1\\ & =A_1{A}_0{x}_0+(A_1{B}_0{u}_0+B_1{u}_1)+(A_1{g}_0+g_1)\\ x_3& =A_2{x}_2+B_2{u}_2+g_2\\ & =A_2{A}_1{A}_0{x}_0+(A_2{A}_1{B}_0{u}_0+A_2{B}_1{u}_1+B_2{u}_2)+(A_2{A}_1{g}_0+A_2{g}_1+g_2)\\ ...& \end{array}$$

进而有
$$\begin{gathered} \left[\begin{array}{c}{x}_1\\ x_2\\ x_3\\ ...\\ x_N\end{array}\right]=\left[\begin{array}{c}{A}_0\\ A_1{A}_0\\ A_2{A}_1{A}_0\\ ...\\ A_{N-1}\cdots A_0\end{array}\right]x_0+\left[\begin{array}{ccccc}{B}_0& 0& 0& \cdots & 0\\ A_1{B}_0& B_1& 0& \cdots & 0\\ A_2{A}_1{B}_0& A_2{B}_1& B_2& \cdots & 0\\ ...& ...& ...& ...& ...\\ A_{N-1}\cdots B_0& A_{N-2}\cdots A_2{B}_1& A_{N-3}\cdots A_3{B}_2& \cdots & 0\end{array}\right]\left[\begin{array}{c}{u}_0\\ u_1\\ u_2\\ ...\\ u_{N-1}\end{array}\right] \\ +\left[\begin{array}{c}{g}_0\\ A_1{g}_0+g_1\\ A_2{A}_1{g}_0+A_2{g}_1+g_2\\ ...\\ A_{N-1}\cdots A_1{g}_0+A_{N-1}\cdots A_2{g}_1+\cdots +g_{N-1}\end{array}\right] \end{gathered}$$