Abstract
The objective of this paper is to simplify the complexity of practical implementation of the input-state feedback linearization technique for the control of input-affine systems. A polynomial approach which makes use of the Taylor series expansion and the Kronecker product is developed. Our work aims to address the problem of synthesizing a polynomial control via a nonlinear analytical coordinates transformation. To check the effectiveness of the investigated approach, we consider the control problem of a series DC motor. A comparative study with the input-state feedback linearization control is developed.