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The single-input nonlinear system has the form \\(\\dot y= f_1(y,z)+ g(y,z)u\\), \\(\\dot z= f_2(y,z)\\), where \\(f_1(z,y)\\in \\mathbb{R}\\), \\(f_2(y,z)\\in \\mathbb{R}^{n-1}\\), \\(g(y,z)\\in\\mathbb{R}\\) are smooth functions of their arguments, \\(y\\in\\mathbb{R}\\) is the measured output of the system and \\(z\\in\\mathbb{R}^{n-1}\\) is the internal state, \\(u\\) is the control input. For tracking with PI feedback and semiglobal asymptotic stability, a parametrization of the gain with constant integral term is obtained. 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