Designing　advanced　design　techniques　for　feedback　stabilization　and　optimization　of　complex　systems　is　important　to　the　modern　control　field.　In　this　paper,　a　near-optimal　regulation　method　for　general　nonaffine　dynamics　is　developed　with　the　help　of　policy　learning.　For　addressing　the　nonaffine　nonlinearity,　a　pre-compensator　is　constructed,　so　that　the　augmented　system　can　be　formulated　as　affine-like　form.　Different　cost　functions　are　defined　for　original　and　transformed　controlled　plants　and　then　their　relationship　is　analyzed　in　detail.　Additionally,　an　adaptive　critic　algorithm　involving　stability　guarantee　is　employed　to　solve　the　augmented　optimal　control　problem.　At　last,　several　case　studies　are　conducted　for　verifying　the　stability,　robustness,　and　optimality　of　a　torsional　pendulum　plant　with　suitable　cost.