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The above paper by the authors (Lozano and Brogliato, ibid., vol.37, p.174-81, 1992) contains two flaws that were brought to their attention. The first mistake concerns the definition of a signal which then effects the initial conditions on the state and on the desired trajectory. The second mistake is in the regressor matrix. Consequently the stability analysis given in one of the appendices is not complete. The authors provide corrections to the above mistakes.