In this paper, the trajectory control method for nonminimum phase system is developed. After robustly placing the system's pole locations by using Time Delay Controller, we can cancel these poles using feedforward controller. In nonminimum phase systems, the unstable zeros can cause undesirable dynamics, and it cannot be directly canceled. To cancel the phase error caused by unstable zeros, Continuous Zero Phase Error Tracking Controller is proposed. And, new trajectory generation method is proposed for cancelling gain error caused by unstable zeros. To verify the effect of the proposed algorithms, simulations and experiments on the single link flexible arm are acomplished.