We present a linearization procedure of mechanical control systems that preserves the mechanical structure of the system, i.e. the mechanical linearization. We give necessary and sufficient conditions for such linearization in two main (static) cases, namely state–space linearization and feedback linearization. In contrast to the classical cases, such mechanical linearizations can be performed without assuming controllability of the linearized system.

中文翻译：

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无可控性假设的机械控制系统的机械线性化

我们提出了机械控制系统的线性化程序，它保留了系统的机械结构，即机械线性化。我们在两种主要（静态）情况下给出了这种线性化的充分必要条件，即状态空间线性化和反馈线性化。与经典情况相反，这种机械线性化可以在不假设线性化系统的可控性的情况下执行。