This paper addresses the feedforward/output feedback control problem for single-input single-output minimum-phase nonlinear processes. Combination of dynamic feedforward/static state feedback laws and state observers is employed to synthesize nonlinear dynamic feedforward/output feedback controllers that completely eliminate the effect of measurable disturbances and induce a desired input/output behavior. The developed methodology in applied to an exothermic continuous chemical reactor and extensive simulations illustrate the controller performance and robustness.