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非线性系统反馈线性化问题研究已取得很多成果，但对具有干扰非线性系统反馈线性化问题涉及不多．重点研究具有干扰非线性系统线性化问题．基于等价概念，研究将具有输入干扰的非线性系统变换为与其等价的伪线性系统（QuasiLinearSystem）这一等价变换包括：i．状态空间坐标变换；ii．输入空间的坐标变换，它由干扰的非线性前馈（FF）和状态反馈（FB）变换组成，称为输入-状态FF/FB变换．给出了具有干扰非线性系统线性化的条件和具体的等价变换算法，并用实例证明了算法的有效性．
Nonlinear system feedback linearization has made a lot of achievements, but there is not much feedback linearization problem with nonlinear systems. Focus on the nonlinear system with interference nonlinear problems. Based on the concept of equivalence, we study the equivalence transform of a nonlinear system with input disturbance into its equivalent pseudo-linear system (QuasiLinearSystem), which includes: i. State space coordinate transformation; ii. Input space coordinate transformation, which consists of disturbing nonlinear feedforward (FF) and state feedback (FB) transformation, called the input - state FF / FB transformation. The conditions for the linearization of nonlinear systems and the equivalent transformation algorithm are given. The effectiveness of the algorithm is proved by an example.