Firstly, by computing the eigenvalues of linear approximation system, a critical condition which ensures odd point o is local center is obtained.

首先通过计算线性近似系统特征值的方法，给出了奇点o为局部中心点的判定条件。

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Based on the approximation property of fuzzy systems, a nonlinear system can be expressed as the form of linear parametric model and a modelling error term.

根据模糊系统的逼近性质，非线性系统可以表示为线性参数化模型加上一建模误差项。

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Extended Kalman Filter is an efficient tool for mobile robot position tracking, but it suffers from linearization errors due to linear approximation of nonlinear system equations.

扩展的卡尔曼滤波定位方法是一个常用的位置跟踪方法，但是在对非线性系统方程进行线性化近似过程中引入了线性化误差。

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