Linearization condition through state feedback

It is shown that if a nonlinear system is linearly controllable, then it can always lead to the linearization condition through state feedback, provided the transformation satisfies an additional condition on the system input. The methodology proposed is to make the eigenvalues of the Jacobian of the system nonresonant. The generality of the proposed method allows the eigenvalues of the linear system to be arbitrarily placed inside a scalable circular region in the left half of the complex plane. The method is illustrated with an example.