Thanks for your reply,
I guess what I'm trying to say is, given some vector r which represents say the position of an object in space, if I wanted to linearize its function with respect to its direction only (i.e. perturb the position with respect to its direction not magnitude), then I could...
I am linearizing a vector equation using the first order taylor series expansion. I would like to linearize the equation with respect to both the magnitude of the vector and the direction of the vector.
Does that mean I will have to treat it as a Taylor expansion about two variables...
That is exactly the kind of normalization I was hoping for. Also, I know that in the scalar case normalizing the differential equation can reduce the number of parameters (which would also be a plus) but more than anything else I care about producing dimensionless and scaled parameters. The...
Homework Statement
I can't seem to figure out how this next step of this derivation for equation 2.33 was produced. This is a graduate level textbook on Adaptive Backstepping.