Analytical conditions and practical methods of their realization are proposed to solve a problem of a command signal tracking for a nonlinear disturbed system.Non- linear disturbed plants consisting of linear dynamic block and nonlinear block in feedback are considered.Nonlinear part of the plant and disturbance are unknown and bounded. The paper illustrates a possibility of applications of proposed algorithms to control libra- tion angle of satellite. Analytical conditions and practical methods of their realization are solved to solve a problem of a command signal tracking for a nonlinear disturbed system. Non-linear disturbed plants consisting of linear dynamic block and nonlinear block in feedback are considered. Nonlinear part of the plant and disturbance are unknown and bounded. The paper shows a possibility of applications of proposed algorithms to control libra- tion angle of satellite.