This paper presents a systematic procedure for designing adaptive controllers for a class of feedback linearizable nonlinear systems. The method does not restrict the location of unknown parameters or the growth of nonlinearities, but requires that the nonlinear system can be transformed into a pure-feedback form. The proposed scheme guarantees global regulation and tracking properties when the system is in strict-feedback form. The design procedure is based on a coordinate change and the construction of parameter update laws, and is demonstrated to be feasible and stable through a Lyapunov argument. The paper also discusses the tracking problem for input-output linearizable systems, providing conditions for global tracking and stability. The results extend the class of nonlinear systems for which adaptive control can be systematically designed.This paper presents a systematic procedure for designing adaptive controllers for a class of feedback linearizable nonlinear systems. The method does not restrict the location of unknown parameters or the growth of nonlinearities, but requires that the nonlinear system can be transformed into a pure-feedback form. The proposed scheme guarantees global regulation and tracking properties when the system is in strict-feedback form. The design procedure is based on a coordinate change and the construction of parameter update laws, and is demonstrated to be feasible and stable through a Lyapunov argument. The paper also discusses the tracking problem for input-output linearizable systems, providing conditions for global tracking and stability. The results extend the class of nonlinear systems for which adaptive control can be systematically designed.