A hybrid open-loop closed-loop control strategy for path following con
trol problems is introduced. It is based on a strategy due to Jankowsk
i et al., but modified by a preliminary feedback. An analysis is done
in the linear case showing when the preliminary feedback is needed and
how to compute it. The extension to nonlinear systems is discussed. A
nonlinear example is presented showing the necessity of preliminary f
eedback. The approach is especially useful for complex nonlinear syste
ms with high relative degrees.