This paper deals with the control of regularly epsilon-perturbed nonlinear systems. On the basis of a ’nominal’ control law (i.e. designed with respect to the unperturbed plant), an iterative procedure is proposed for achieving, at a fixed order of approximation, the requirements specified on the dynamics of the feedback control system. The sufficient conditions ensuring the applicability of the procedure, are verified when dealing with feedback linearization problems. Some working examples developed in the paper, illustrate the efficiency of such a design strategy.