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Abstract: This paper presents a algorithm for the construction of a state-feedback linearizing controller. The technique uses part of the state coordinate transformation from the pseudolinearizing method as an ``output function.'' Spline function interpolation is used to construct the controller, which can be accomplished regardless of the complexity of the nonlinear model. The Acrobot is used to illustrate the design technique, and simulation results are presented which support assertions of computational efficiency and high-performance.