## What is linearization of nonlinear system?

Linearization is the process of taking the gradient of a nonlinear function with respect to all variables and creating a linear representation at that point. It is required for certain types of analysis such as stability analysis, solution with a Laplace transform, and to put the model into linear state-space form.

**What is a Jacobian matrix used for?**

Jacobian matrices are used to transform the infinitesimal vectors from one coordinate system to another. We will mostly be interested in the Jacobian matrices that allow transformation from the Cartesian to a different coordinate system.

**What is the linearization theorem?**

The theorem states that the behaviour of a dynamical system in a domain near a hyperbolic equilibrium point is qualitatively the same as the behaviour of its linearisation near this equilibrium point, where hyperbolicity means that no eigenvalue of the linearisation has real part equal to zero. …

### What is the Jacobian matrix and why it is needed?

The Jacobian matrix is used to analyze the small signal stability of the system. The equilibrium point Xo is calculated by solving the equation f(Xo,Uo) = 0. This Jacobian matrix is derived from the state matrix and the elements of this Jacobian matrix will be used to perform sensitivity result.

**Why do we need a Jacobian?**

Now the Jacobian is the tool we use to convert the value of a measurement from one coordinate system to the value that would be obtained if the measurement were performed in Cartesian coordinates. It represents the infinitesimal relation between lengths of an object when drawing in one system to the other.

**Why do we need linearization?**

Linearization can be used to give important information about how the system behaves in the neighborhood of equilibrium points. Typically we learn whether the point is stable or unstable, as well as something about how the system approaches (or moves away from) the equilibrium point.