Abstract
In this paper, we study the problem of global practical tracking of a class of high-order nonlinear systems with feedback. A feature of the system under consideration is that the degree of limitation of the upper boundary of the nonlinearity is taken on a continuous interval. We develop a tunable and delayindependent tracking controller that dominates the effect of delay time non-linearity by generating a Lyapunov function, respectively, using a generalized method of adding a signum function and a power integrator. The resulting controller ensures global boundedness of all states of the studied closed system and a sufficiently small control error over a finite time. In addition, in this work, priority was given to computer simulation of previously achieved results.