An universal controller is constructed, formulated in input-output terms on
ly, which causes the output of any uncertain smooth single-input-single-out
put (SISO) minimum-phase dynamic system with known relative degree to vanis
h in finite time. That allows exact tracking of arbitrary real-time smooth
signals. Only one parameter is to be adjusted. The approach being based on
higher-order finite-time-convergence sliding modes, the control can be made
arbitrarily smooth, providing for the arbitrarily-high tracking-accuracy o
rder with respect to the sampling step.