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In this paper, a symbolic, algorithmic procedure to compute an immersion that recasts a polynomial system into a linear one up to an output injection is proposed. Such a technique is based on computing, through algebraic geometry methods, the set of all the embeddings of the system and on matching the coefficients of these polynomials with the ones of the embeddings of a linear system up to an output injection. The given algorithm is then relaxed to compute an immersion that recasts a polynomial system into a form that is linear up to a finite order and an output injection and to compute an approximation of the immersion. [ABSTRACT FROM AUTHOR]