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Input-output exact linearization (IOEL) is one of the exact feedback linearization (EFL) techniques in which nonlinear dynamics (between inputs and outputs of interest) of a plant are exactly linearized. In these, an outer linear control loop is employed to achieve the desired performance. However, EFL linearizes all the nonlinearities, including those which favor the desired performance, thus making the design loop inefficient In this presentation a new and more efficient control technique (input-output selective linearization - IOSL) is presented which selectively linearizes the nonlinear parameters of a plant. The useful nonlinearities which favor the performance indexes are left unchanged. A PID controller is being proposed for the outer control loop in the design to achieve robustness and disturbances rejection properties in the overall design.