This paper is concerned with the mathematical analysis of the signal transformation approach to triangular waveform tracking. We provide necessary and sufficient conditions for stability and convergence of tracking error for a general class of plants and compensators. A procedure is offered to incorporate robustness against plant uncertainties and disturbances in the signal transformation method. Moreover, effectiveness of the method compared to an ordinary 2-DoF feedback control system is investigated. Simulation results are presented that reveal the conditions under which the incorporation of signal transformation blocks in a linear feedback loop may introduce control performance improvements. Crown Copyright (C) 2011 Published by Elsevier Ltd. All rights reserved.