A controller design strategy for nonlinear systems with more manipulated inputs than controlled outputs is proposed. The technique is called "habituating control" as a result of its similarity to control schemes commonly used in biological systems. Nonlinear control laws that provide input-output linearization while simultaneously minimizing the "cost" of affecting control are derived. In the single-output case, the cost function employed differs according to the relative degrees of the two inputs. Local stability analysis shows that the resulting controller can provide a simple solution to the singularity and nonminimum phase problems. An extension of the controller design strategy for multiple-output processes also is presented. The proposed method is evaluated using nonlinear models of chemical and biochemical reaction systems.