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This study considers the global set-point tracking control problem for a class of non-linear systems with input-to-state stable dynamic uncertainties and unknown control coefficients. A partial-state feedback controller is proposed, which could achieve the global set-point tracking control of the system output and keep the other signals bounded. The overparameterisation is avoided with the help of a technical lemma concerning the multiple Nussbaum-type functions. It is shown that the developed control scheme can be applied to the temperature control in a continuously stirred tank reactor. The simulation results demonstrate its effectiveness.