Linearization condition through state feedback

It is shown that if a nonlinear system is linearly controllable, then it ca n always lead to the linearization condition through state feedback, provid ed the transformation satisfies an additional condition on the system input . The methodology proposed is to make the eigenvalues of the Jacobian of th e system nonresonant. The generality of the proposed method allows the eige nvalues of the linear system to be arbitrarily placed inside a scalable cir cular region in the left half of the complex plane. The method is illustrat ed with an example.