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This paper considers output tracking of reference signals produced by some external generator for uncertain aerodynamic missile system, which exhibits nonminimum phase characteristics, i.e, zero dynamics is unstable. Such nature of the plant restricts the application of plenty of powerful nonlinear control techniques such as feedback linearization control and sliding mode control. To overcome this difficulty, stable system center technique is adopted to estimate the stable reference signals of the internal states. Then based on the block control principle, a robust sliding surface is designed through H∞ analysis ensuring the robustness against random disturbance. Following this, a novel continuous controller is developed in spite of the matched nonlinear disturbance, to guarantee the accurate tracking and to avoid possible chattering phenomena meanwhile. Finally, simulation results verifies the effectiveness of the proposed controller.