Linearizing a non-linear ARX model for making a PID controller ?

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Hi all,
I want to create a PID controller for my non-linear arx model but I was told that I needed to linearize my system first. Now I know the PID tuner automatically linearizes it but it does this at the first second at an input level of 1.
My plant has a dead zone behaviour at the first second and also, the input must be a minimum of 2.5V to get it to move from an output of zero.
How do I go about linearizing this non-linear arx plant at these specific conditions ?
Thanks

Accepted Answer

Arkadiy Turevskiy
Arkadiy Turevskiy on 26 Feb 2015
Please take a look at this video and try to follow the same approach.
  3 Comments
Arkadiy Turevskiy
Arkadiy Turevskiy on 2 Mar 2015
ones is a standard MATLAB function for creating an array of ones. There is no function twos, so of course you will get an error. To define an input level of 2, simply do: 2*ones(1000,1)

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