The traditional control method for a fast-steering mirror driven by a voice coil motor suffers from serious phase lag, which limits the performance. Herein, a perfect tracking controller (PTC) was proposed to solve this problem. First, a discrete state space model of the voice coil-driven fast-steering mirror was established, a multirate sampling system was constructed, and a PTC was designed for long-cycle operations. Second, an internal compensator controller was designed for short-cycle operations based on the discrete-time sliding mode control method. The new method achieves perfect tracking of the voice coil-driven fast-steering mirror and reduces the effects of external disturbances, model uncertainties, and mechanical nonlinearity, thus ensuring the robustness of the system. Experimental results show that the proposed PTC improves bandwidth performance. Compared with the proportional-integral-derivative controller method, the system step response time is reduced by 50% and position error is reduced by 50%. Compared with the disturbance observer and zero phase error tracking controller method, the steady-state error is reduced from 1.5% to 0.05%. Moreover, the proposed method allows the fast-steering mirror driven by a voice coil motor to track sine position commands with an amplitude of 360″; the double-decade bandwidth is up to 375 Hz. The proposed method can effectively improve dynamic performance and expand the system control bandwidth.