This work develops and applies the exact linearization of nonlinear systems described by State Dependent Parameter (SDP) models. This allows the implementation of conventional Proportional-Integral-Plus (PIP) control using its linear strategy. A simple demonstrator consists of a DC motor, drives a belt as an automated line, and equipped with a single board Reconfigurable Input-Output (sbRIO-9631) card, within a Field Programmable Gate Array (FPGA) and with a real time processor for control is used. A discrete-time SDP model, for the nonlinear system, is first constructed, in which its parameters are system state dependent. Then, an exact linearization is applied in order to return to the linear model, which is subsequently used to design and apply the PIP control algorithm based on linear system design strategies. Preliminary experimental results demonstrate that the approach yields an acceptable control performance for the proposed demonstrator.