# Is Image Based Visual Servoing a non-linear controller?

Is Image Based Visual Servoing a non-linear controller? I think it is as the Image Jacobian has square terms of u & v (image-plane coords).

Where $$p_u, p_v$$ are the width & height of each pixel, $$f$$ is the focal length of the camera lens, $$Z$$ is the depth of the object which has been projected on the image-plane.