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Robust non-linear control and tracking design scheme for multi-input multi-output (MIMO) non-linear perturbed plants are considered, that is, robust stability and output tracking performance are studied by using operator-based robust right coprime factorisation approach. Some sufficient conditions for the MIMO non-linear perturbed plants are derived. By using these conditions, the obtained control and tracking systems are robustly stable, and the desired output tracking performance is realised. Finally, two general examples and one example about the application to a three-input/three-output aluminium plate are given to initially demonstrate the theoretical analysis.