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研究了一类具有可测干扰的非线性系统的线性化问题。在基于输出对控制输入的相对阶基础上，应用了输出对干扰输入的相对阶概念、给出了一个非线性前馈／状态反馈变换律，与系统的结构特性有关，变换律可能是静态的也可能是动态的，从而可以基本消除可测干扰对系统输出的影响，并且在闭环系统中得到了一个线性输入输出的关系。最后给出了计算实例来证明所提交换律的有效性。
The problem of linearization for a class of nonlinear systems with measurable disturbance is studied. Based on the relative order of the output-pair control inputs, the relative order concept of output-to-disturbance input is applied and a nonlinear feedforward / state feedback transformation law is given, which is related to the structural characteristics of the system. The transformation law may be static It may also be dynamic, so that the influence of measurable interference on the output of the system can be basically eliminated, and a linear input-output relationship is obtained in the closed-loop system. Finally, a calculation example is given to prove the validity of the commutation law.