The authors consider the system \[ \dot x= f(x)+ g(x)v,\quad\dot\xi= A(\xi)+ bu,\quad v= c(\xi)+ du \] for which it is known that \(\dot x= f(x)+ g(x)\alpha(x)\) has the equilibrium at \(\{0\}\) globally asymptotically stable. Redesign of the control, i.e. the choice of \(u=\theta(x)\) such that the closed loop system \[ \dot x= f(x)+ g(x)(c(\xi)+ d\theta(x)),\quad \dot\xi= b\theta(x)+ A(\xi) \] should also have the equilibrium \(\{0\}\) globally asymptotically stable, is performed avoiding the assumption of stability for the equilibrium at \(\{0\}\) for \(\dot\xi= A(\xi)\).