This paper is about a control concept that offers both: 1) fast and smooth equilibrium-to-equilibrium transfers and almost perfect tracking of desired reference trajectories for non-minimum phase systems despite sudden load changes, and 2) a simple method to reduce electromagnetic interference (EMI) at the source. The first goal is achieved by resorting to the flatness property present in the boost converter. The second goal is accomplished by superimposing a small chaotic ripple on the planned trajectory derived from the system's flat output.