Linearization by using two methods: Exact input-output linearization and sliding mode control

This paper present the comparison between two linearization methods applied on a nonlinear system. The first one concerns the use of an exact linearization and the second one concerns the sliding mode control. The main difficulties to apply these methods are to do a good choice concerning the dynamics of the linearized system. In some cases the result obtained provides an experimental realisation very different from the simulation one. So to understand how to design a robust linearization this paper presents two points of view. An application is presented to illustrate the importance of poles placement.