Affine Nonlinear Systems 

Affine systems are nonlinear systems that are linear in the input. They can be specified in multiple ways and can also be converted to other systems models.

A system specified using an ODE.

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A system specified using its components.

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Systems obtained from other systems models.

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A NonlinearStateSpaceModel that is not input linear is approximated.

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A linear AffineStateSpaceModel is exactly converted to linear systems models.

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In general, affine models are approximated during conversion to linear systems models.

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The conversion to a NonlinearStateSpaceModel is exact.

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