In this paper, we study the problem of globally regulating a class of nonlinear systems resulting from interconnecting three kind of dynamics: a "good" one, linear with respect to the states not available for feedback, a "bad" one, generally nonlinear, and a bounded-input-bounded-output (BIBO) one. We give some generalizations over previous works with coauthors and, as an application, we consider two physical examples: elastic joint robots and rigid robots driven by synchronous motors.