Individual skill
state-space-linearization
Linearizing nonlinear dynamics around operating points for control design.
tasks/r2r-mpc-control/environment/skills/state-space-linearization/SKILL.md
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# State-Space Linearization
## Jacobian Computation
For nonlinear dynamics dx/dt = f(x, u), linearize around (x_ref, u_ref):
```
A = ∂f/∂x |_{x_ref} (n×n matrix)
B = ∂f/∂u |_{x_ref} (n×m matrix)
```
## Discretization
For discrete-time control with timestep dt: