In this paper, a new design technique of the model reference robust control is proposed for non-minimum phase (with respect to the relation between the disturbance and output) continuous-time dynamical systems with disturbances. The designed controller requires only input and output measurements of the system. By using the estimate of a special signal generated by the disturbance, an intermediate control input is determined. Then, to assure the boundedness of the input and output, the model reference robust control input is designed to minimize the difference between the controlled system output and the desired output. Design example and simulation results are presented to show the practicality and effectiveness of the proposed algorithm.