In this paper we extend a robust tracking method to more general uncertainties or matched disturbances. Therefore the tracking method consisting of an inverse control part and a feedback control part will be repeated and extended in such a way that robustness bounds can be guaranteed even in presence of constant disturbances. Furthermore, besides robustness bounds we will discuss performance bounds as well. Therefore we will focus on the state penalty of the performance value in the case of stabilizing stationary operating points in order to simplify the tuning of the feedback controller. At the end, a simulation result will verify the design procedure. ©2008 AACC.