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在１９８１年韩京清发表的论文＂线性系统的结构与反馈计算＂的基础上发展和完善了基于高阶微分方程输入－输出描述的非线性系统直接反馈线性化（ＤＦＬ）理论。给出了ＤＦＬ问题的有解条件和补偿器的结构。首次提出了＂隐动态＂（ＨＤ）概念，并证明了它与微分几何非线性控制理论中的＂零动态＂（ＺＤ）的等价关系。该法所需数学工具简单；保留了原状态变量的物理意义，便于工程应用。
Based on the paper “Structural and Feedback Calculation of Linear Systems” published by Han Jingqing in 1981, DFL theory based on input-output description of higher-order differential equations was developed and improved. The solution condition of DFL and the structure of compensator are given. For the first time, the concept of “hidden dynamic” (HD) was proposed and its equivalent relation with “zero dynamics” (ZD) in differential geometry nonlinear control theory was proved. The mathematical tools required by the law are simple; the physical meaning of the original state variables is retained, which is convenient for engineering application.