A class of nonlinear systems that are affected by unknown, unmodelled time-varying parameters which enter linearly in the system, whose bounds are unknown is considered. A systematic procedure is developed for the synthesis of robust regulation state feedback laws whose dynamics are minimal, i.e. it consists of a single integrator and a smooth nonlinear mapping, using as a key tool the so-called "Small Gain Theorem". The proposed scheme substantially improves previous solutions, in which the regulator＇s dynamics order was equal to the space dimension.