对具有干扰的非线性系统，给出了一种线性化方法，通过状态反馈和干扰前馈变换，将非线性系统变换为等价的伪线性系统，给出了线性化的具体算法，并通过实例将非线性系统线性化．该法是不含干扰非线性系统反馈精确线性化方法的推广，具有更广泛的实用性． For a nonlinear system with disturbance, a linearization method is given. The nonlinear system is transformed into an equivalent pseudo-linear system through state feedback and disturbance feedforward transformation, and the specific algorithm of linearization is given. The example linearizes the nonlinear system. This method is an extension of the accurate linearization method without interfering with nonlinear system feedback and has more extensive practicality.