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:<math>L_{g}L_{f}^{r-1}h(x_0) \neq 0</math>
Considering this definition of relative degree in light of the expression of the time derivative of the output <math>y</math>, we can consider the relative degree of our system (1) and (2) to be the number of times we have to differentiate the output <math>y</math> before the input <math>u</math> appears explicitly. In an [[LTI system]], the relative degree is the difference between the degree of the transfer function's denominator polynomial (i.e., number of [[pole (complex analysis)|pole]]s) and the degree of its numerator polynomial (i.e., number of [[zero (complex analysis)|zero]]s).
=== Linearization by feedback ===
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