Exact Linearization: Integrator Chain Stabilization

This lecture covers the concept of exact linearization in the context of a chain of integrators, discussing the conditions on the output and the error equation for stabilizing the integrator chain. The instructor explains the principle of gearing the output until the input appears, and demonstrates how to determine a particular function to achieve exact linearization. Geometric tools such as the derivative of Lie are used to analyze the system, obtaining loopback and transforming it into a chain of integrators. The lecture also addresses the control law for the integrator chain and the choice of characteristic polynomial for stability.