基于相对阶的概念，利用反馈线性化的方法，得到状态反馈控制律。
Based on the concept of relative order, the state feedback controllers are obtained by using the way of feedback linearization.
运用微分几何方法讨论了存在相对阶的一般非线性控制系统的局部反馈渐近镇定问题。
Local feedback asymptotic stabilization problems for the general nonlinear systems which exist a relative degree are discussed.
结果表明：该方法不仅适用于不具有严格相对阶的系统，也适用于具有不稳定零动态的系统。
The results show that the method can be applied not only to systems with ill-defined relative degrees but also to non-minimum phase systems.
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