This paper investigates the problem of preview tracking control for a class of differentiable nonlinear systems. First, by constructing an augmented error system (AES), the tracking problem is transformed into a regulation problem. Thanks to the differentiable mean value theorem, the obtained AES is a linear parameter varying system. Then, a state feedback controller is developed and a sufficient condition for asymptotic stability of the closed-loop system is presented in the LMI form. Based on this criterion, the preview controller of the original system is designed to guarantee that the output asymptotically tracks a reference signal. Finally, the effectiveness of the proposed controller is shown by numerical simulations.