This paper presents two numerical methods for synthesizing an approximate feedback linearizing control for single-input nonlinear systems. Both techniques use part of the pseudo-linearizing coordinate transformation as an ’output function’ T-1. The first synthesis uses a well-known recursive algorithm to compute the control given T-1. Splines represent functions that cannot be computed in closed form. The second method yields a simplified controller that can be computed regardless of the plant’s complexity. Experimental results from a rotating inverted pendulum show an improved performance of the approximate feedback linearization compared with pseudo-linearization, while highlighting the practical numerical difficulties that arise in the first method. Simulations of an acrobot illustrate the second method, which is also improved over pseudo-linearization.