Dayawansa, Wijesuriya P.Martin, C.F.Knowles, G.We consider the tracking problem for a globally minimum phase nonlinear system. It is assumed that the signal to be tracked is slowly varying and a priori bounds on its magnitude are known. We show that if the system has bounded derivatives and exponentially stable zero dynamics then the system admits an output feedback controller which solves the tracking problem.en-USIntelligent ServomechanismsTechnical Report