Model-based tracking for nonlinear systems is a part of control where tracking is a goal and a controller is based upon a dynamic model. As stated in Section  3.7, model-based control surpasses kinematic-based control with regard to performance, control precision, ability to cope with external disturbances, friction, and noise. Also, this book focuses on two control design stages: modeling and controller design. As a consequence, we focus on constructive control procedures applicable to common classes of nonlinear systems significant in applications, and on modeling and control design tools. Of course, these constructive procedures and design tools available to control engineers are results of several theoretic research streams; these are discussed briefly in Chapter 3.