On linearizability of strict feedforward systems

In this paper we address the problem of linearizability of systems in strict feedforward form. We provide an algorithm, along with explicit transformations, that linearizes a system by change of coordinates when some easily checkable conditions are met. Those conditions turn out to be necessary and sufficient, that is, if one fails the system is not linearizable. We revisit type I and type II classes of linearizable strict feedforward systems provided by Krstic in (M. Krstic, 2004) and illustrate our algorithm by various examples mostly taken from (M. Krstic, 2004).