A new tracking-control method for general non-linear systems is proposed. A virtual controller and some command references are introduced to asymptotically stabilise the system of the tracking error dynamics. Then, the actual controller and command references are derived by solving a system of linear algebraic equations. Compared with other tracking-control methods in the literature, the tracking-controller design in this paper is simple because it needs only to solve a system of linear algebraic equations. The boundedness of the tracking controller and command references is guaranteed by the solvability of the terminal value problem (TVP) of an ordinary differential equation. For non-linear systems with minimum-phase properties, the TVP is automatically solvable. A numerical example shows that the tracking-control method is still available for some systems with non-minimum-phase properties. To enhance the robustness of the tracking controller, a non-linear disturbance observer (NDO) is introduced to estimate the disturbance. The combination of the tracking controller and the NDO is applied to the tracking control of an air-breathing hypersonic vehicle.