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Using parallel-plate waveguides (PPWGs) that mimic artificial dielectrics, we demonstrate a universal filter that provides low-pass, high-pass, band-pass, and band-stop (or notch) filtering functionalities in the terahertz (THz) frequency regime. The device essentially consists of two PPWGs in a complementary geometry. The filtering functionality is achieved by positioning an appropriate amplitude mask in the path of the spatially chirped THz beam between the two waveguides. By varying the position of the mask, we experimentally and theoretically demonstrate continuous tunability of the respective 3 dB cutoff frequencies within the frequency range from about 0.3 to 0.7 THz.