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The ORM tracking problem is of significant interest in practice since, with a linear ORM, the closed-loop control system is indirectly feedback linearized and value iteration (VI) offers the means to achieve ORM tracking without using process dynamics. Ranging from linear to nonlinear parameterizations, a successful approximate VI implementation for continuous state-action spaces depends on several key parameters such as: problem dimension, exploration of the state-action space, the state-transitions dataset size, and suitable selection of the function approximators. We show that using the same transitions dataset and under a general linear parameterization of the Q-function, high performance ORM tracking can be achieved with an approximate VI scheme, on the same performance level as that of a neural-network (NN)-based implementation that is more complex and takes significantly more time to learn. 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