This work proposes the design of a commutation function to solve the output voltage trajectory tracking problem in the DC-DC Buck power electronic converter. Through a Lyapunov-type analysis, sufficient conditions are established, taking into account the discontinuous model, to ensure asymptotic convergence to the desired trajectories. Based on this analysis, a state-dependent switching function was designed to guarantee the closed-loop stability of the tracking error. To validate the control performance, circuit numerical simulations were carried out under abrupt disturbances in the source and load of the converter. The results demonstrate that the voltage tracking at the output of the converter is satisfactorily achieved.