Suppose we are to guide a plant with a square transfer matrix through a series of way points. This can be accomplished by output tracking of trajectories which are fitted together in a sufficiently smooth manner, Each segment of each output is prescribed in terms of a polynomial or sine function or the product thereof, Our technique is to compute : 1) a noncausal "particular solution" based on the desired trajectory over each segment and the movement from one segment to the next. This "particular solution" consists of a "particular control" and a "particular state trajectory;" 2) a regulator to handle modeling errors, disturbances, etc. We concentrate on the "particular solution."