- Tracking control laws for a general class of nonlinear singularly perturbed systems are developed. No assumptions concerning the nonlinearity of the system is made. The effect of the different speeds of controllers and nonlinear actuator dynamics is studied and asymptotic stabilization is shown using Lyapunov methods. Design procedure and performance of the proposed technique is evaluated against composite control method. Results indicate that the proposed technique applies both to standard and non-standard forms of singularly perturbed systems. 2012 AACC American Automatic Control Council).