In order to solve the non-minimum phase problem that arises from the nonlinear control method of state-feedback linearization, a nonlinear controller was designed to control the non-minimum phase effectively. First, through a differential homeomorphism transformation, the original nonlinear systems were transformed into a linearization canonical form, which was composed of the external dynamics described by a linear sub-system and the internal dynamics(namely zero dynamics)described by a nonlinear sub-system. Then, a nonlinear controller design method was developed for the non-minimum phase system, in which zero dynamics were unstable, based on pole assignment and Lyapunov stability theory. Numerical simulations show that, not only can the controller designed by the developed method meet the performance requirements of external dynamics, it can also guarantee the stability of zero dynamics.