This work develops a Multi-Input Multi-Output (MIMO) conditional servocompensator (CS) controller to a class of MIMO nonlinear systems, in the case of asymptotically constant references, motivated by aerospace applications. These results are then applied to an aircraft control case and are compared by computer simulations with previous results from the literature that represent the starting point of the current paper. The obtained controller allows in a first step finite time global stability to a residual region, followed by exponential stability since entering this region.