How can I linearize the following function, where my variables are $\phi_d$, $\dot{\phi_d}$ and $\dot{L}_1$:


Thank you

Moreover, I would like to get an example of linearization around the working point: $\phi_d=\frac{3}{2}\pi$, $\dot{\phi_d}=0$ and $\dot{L}_1=0$


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