This paper deals with the design of output feedback control to achieve asymptotic tracking and disturbance rejection for a class of nonlinear systems when the exogenous signals are generated by a known linear exosystem. The system under consideration is single-input single-output, input-output linearizable, minimum phase, and modelled by an input-output model of the form of an nth-order differential equation. We assume that, at steady state, the nonlinearities of the system can only introduce a finite number of harmonics of the original exosystem modes. This assumption enables us to identify a linear servo-compensator which is augmented with the original system. Moreover, we augment a series of m integrators at the input side, where m is the highest derivative of the input, and then represent the augmented system by a state model. The augmented system is stabilized via a separation approach in which a robust state feedback controller is designed first to ensure boundedness of all state variables and tracking error convergence; then, a high gain observer and control saturation are used to recover the asymptotic properties achieved under state feedback.