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where <math>\mathbf{x}</math> is the vector of variables, and <math>\mathbf{p}</math> is the linearization point of interest
.<ref>[http://www.ece.jhu.edu/~pi/Courses/454/linear.pdf Linearization. The Johns Hopkins University. Department of Electrical and Computer Engineering] {{webarchive|url=https://web.archive.org/web/20100607120539/http://www.ece.jhu.edu/~pi/Courses/454/linear.pdf |date=2010-06-07 }}</ref>
==Uses of linearization==
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