An approximate system of original nonlinear system is obtained by expanding the original system on the dynamic state on the basis of analyzing the decouplled matrix of original nonminimum phase system with small nonlinearity . then the approximate system is feedback linearization controlled 通过对弱非线性非最小相位系统解耦矩阵的分析，将原系统的状态进行扩张，以得到与原系统在本质上相似的近似系统，然后再对近似系统进行反馈线性化设计。
