On feedback linearization of input constrained systems

The main idea and purpose of this paper is to draw attention to some practical aspect of applying the method of input -output feedback linearization to objects with specific input constraints. It has been shown that an unreflective application of linearization by feedback to systems with constraints, especially positive systems, may affect the efficiency and effectiveness of the entire control strategy. The paper provides conditions to verify when a dynamic object with an input constraint to nonnegative control signals can be correctly input -output feedback linearized. The issues discussed are illustrated with appropriate examples.