In this paper, simple matricial methods are used to develop a basis for the design of multivariablo tracking systems which incorporate feedforward and feedback controllers. It is known that the required asymptotic tracking behaviour can be achieved by using only a feedback controller which incorporates integral action (Porter and Bradshaw 1974). However, it is shown in this paper that a composite design which includes a feedforward controller and a feedback controller with both proportional and integral action has a superior tracking performance in certain respects.