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This paper proposes a new approach, which may tentatively be called SDM (state, dynamic, measurement) hybrid control for affine nonlinear systems. For a class of nonminimum phase nonlinear systems, by dynamic extension and SD feedback (state and dynamic feedback), the original system is linearized in the extended higher-dimension state space with certain necessary conditions. Furthermore, SM feedback (state and measurement feedback) is defined and employed to simplify the controller design. As an application of the proposed SDM hybrid control approach, the nonlinear optimal controller for hydroturbine-generator sets is taken as an example for illustration. A simulation for test is carried out on a OMIB system. The results shows the validation and effectiveness of the proposed approach.