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Vector beams (VBs) have spatially inhomogeneous polarization states distribution and have been widely used in many fields. In this paper, we proposed a method to modulate polarization states of higher-order Poincaré (HOP) beams and designed a system based on Mach-Zehnder interferometers, in which polarization state (include azimuth and ellipticity) of generated HOP beams were modulated by linear electro-optic (EO) effect of nonlinear optical crystals. Using this method, the polarization state of generated HOP beams could be controlled by voltage signal applied on EO crystals, which makes the process of the polarization state change with no optical element moving and mechanical vibrations. Besides, due to the flexibility of the voltage signal, the polarization state could be switched directly and immediately.