The question of ideal tracking of a reference signal from a given class for continuous linear time-invariant single-input single-output systems is resolved here by applying a polynomial equation approach. This leads to a design procedure, which is simple and efficient, enabling one at times to find a controller such that the output of the closed-loop system coincides with the given reference input for all t ¿ tL, where tL depends on the order of the system and the constraints on the control action. The procedure is illustrated by numerical examples. A method is suggested for minimizing tL for which ideal tracking holds.