Btissam, it is important what are you doing. Both mathematically and in application.
Taylor expansion is a formally correct approach. But why should you linearize? Important effect can occur in a point with large error. There is also nonlinear optimization, even in dynamic framework. See, for example, this paper (for math you can start from section 3): https://www.researchgate.net/publication/303689706_Economics_of_Talent_Dynamics_and_Multiplicity_of_Equilibria
Conference Paper Economics of Talent: Dynamics and Multiplicity of Equilibria