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详细描述了非线性控制理论几何结构原理的精确线性化算法的过程。这种精确线性化不同于以往工程技术中常用的近似线性化方法，它在足够大的“区域”中是没有误差的。因此，该精确线性化方法将会在更多工程领域中得到应用。
The process of the exact linearization algorithm of the principle of geometric structure of nonlinear control theory is described in detail. This exact linearization is different from the approximate linearization method commonly used in engineering in the past, and it is error-free in a sufficiently large “area”. Therefore, this precise linearization method will be applied in more engineering fields.