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In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which describes dynamics of the input. The main theoretical result establishes the conditions for Lyapunov stability formulated for the perturbed cascade control structure taking advantage of the active rejection disturbance approach. In particular, limitationsdoi:10.24425/acs.2019.129387 fatcat:nwpiz7gx4vf43n6jctvgexa4pa