# Linearizing first or discretizing first?

09/01/2012

Given a nonlinear model:

In practice, we need to both discretize and linearize the nonlinear model. The question is which procedure should be first?

**(1) Method 1: Linearizing first, then discretizing**

first linearizing:

then discretizing:

**(2) Method 2: Discretizing first, then linearizing**

first discretizing:

then linearizing:

**Conclusions: the two methods are equivalent.**

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