In this article, we present a semi global trajectory tracking approach that guarantees a priori computable L2 and L∞ performance bounds for matched disturbance control affine systems. The proposed controller is derived by combining a standard inverse control technique with an extended nonlinear robust state feedback. The latter is based on a control Lyapunov function used for stabilising one operating point inside the considered state space. A difference gradient formulation of this Lyapunov function is then applied to prove stabilisation along any trajectory in the considered state space. Results for L2 and L∞ bounded disturbances will be presented and further extended to the case of actuator uncertainties and disturbance offsets. The theoretical contributions are verified applying them to a numerical example. © 2013 Copyright Taylor and Francis Group, LLC.