Plant linearization for robotic manipulator

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Gautami Golani
Gautami Golani on 24 May 2019
Hello Everyone,
I am trying to control the joints of a robotic manipulator and I have used a PID control for the first joint.
While tuning the parameters, I end up with a warning stating that the Plant cannot be linearized.
Why does this happen?
I have attached my file as well.
Also, I cannot control all the joints in a similar manner. Can someone help me out on this?

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