We propose a modified globally linearizing control (MGLC) structure and a nonlinear feedforward-feedback control (NFF/FB) structure to track trajectories of processes in a batch reactor. The MGLC structure performs trajectory tracking perfectly when the model inversion can be obtained by linearization of state feedback. Otherwise, the NFF/FB structure is recommended. The performance of the control laws that we developed are compared with other control laws designed with the same technique. The proposed control law based on the MGLC structure exhibits robust performance whereas that based on NFF/FB structure produces decreased sensitivity to process noise.