  The linearization method builds a bridge from mature methods for linear
systems to nonlinear systems and has been widely used in various areas. There
are currently two main linearization methods: Jacobian linearization and
feedback linearization. However, the Jacobian linearization method has
approximate and local properties, and the feedback linearization method has a
singularity problem and loses the physical meaning of the obtained states.
Thus, as a kind of complementation, a new linearization method named state
compensation linearization is proposed in the paper. Their differences,
advantages, and disadvantages are discussed in detail. Based on the state
compensation linearization, a state-compensation-linearization-based control
framework is proposed for a class of nonlinear systems. Under the new
framework, the original problem can be simplified. The framework also allows
different control methods, especially those only applicable to linear systems,
to be incorporated. Three illustrative examples are also given to show the
process and effectiveness of the proposed linearization method and control
framework.
