Nonlinear pharmacokinetics occurs when the body's processing of a drug is saturated at higher doses, causing kinetics parameters like clearance and half-life to change with dose. Michaelis-Menten kinetics are commonly used to model nonlinear metabolism, where the metabolic rate approaches a maximum (Vmax) at high concentrations. Parameters like Vmax and KM can be estimated from steady-state dosing and concentration data by linearizing the Michaelis-Menten equation. Drugs like phenytoin exhibit nonlinear kinetics due to capacity-limited hepatic metabolism.