The problem of selecting a linear output K_x for a SISO nonlinear dynamic system given in input-affine form is considered in this paper. In the general case, when the zero dynamics is hard to investigate analytically, K is suggested to be the resulting feedback gain of an LQR-design problem for the linearized model. The advantageous properties of the LQR design (gain and phase margins, etc.) known for linear systems enable to obtain a locally asymptotically stable, yet simple nonlinear controller if the linear output K_x is used for feedback linearization. With this output selection, the open loop system is of relative degree 1 at the desired operating point and it possesses at least locally asymptotically stable zero dynamics. It is shown on examples that the resulting closed loop nonlinear system can be stable in a wide neighborhood of the operating point. The concepts are illustrated on two characteristic nonlinear systems of two different application domain: the inverted pendulum and a continuous fermenter.