This paper focuses on the problem of output tracking with prescribed transient and steady-state performance for strict-feedback systems with unknown nonlinear functions and unmatched disturbances. In lieu of Nussbaum gain techniques, parameter estimation algorithms and switching control strategies, a continuous static low-complexity control solution is provided by means of a novel combination of smooth orientation functions and error transformation functions. The proposed method possesses inherent robustness against model uncertainties, disturbances, and virtual control signal derivatives, thus eliminating the needs to introduce extra robust control schemes and compute analytic derivatives. Comparative simulation results further illustrate the above theoretical findings.