I am not able to linearise the my Simscape model of a Stewart Platform for PID control. Can anyone suggest a solution?

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Sreeranj Jayadevan
I have a made a Simcape model for the dynamics of the Stewart platform whose motion is due to rotory actuators (servos). I am giving control input to the servos to go to the desired states( I am just tracking the Euler angles for now and kept the position coordinates as [0,0,0]). But i am not able to linearise the system when i try to tune my PID.

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