In the paper a method called the reinforcement nonlinear control system (RNCS) is proposed for intelligent control of nonlinear systems. The RNCS integrates two artificial neural networks (ANNs) into a learning system. One of the ANNs plays a role of identification predictor and the other as a linearization controller. The RNCS is trained to linearize a plant by a desired linear dynamics imposed. The plant-network system is treated as a linear system and the wealth of linear control theories can be applied after linearizing the control affine plant.