In this paper, an observer-based output-feedback control design solving the tracking problem for continuous piecewise affine (PWA) systems is proposed. The design of the dynamic controller is based on the idea of, on the one hand, rendering the system convergent by means of feedback (which makes all its solutions converge to each other) and, on the other hand, guaranteeing that the closed-loop system has a bounded solution corresponding to zero tracking error. This implies that all solutions of the closed-loop system converge to this bounded solution with zero tracking error. Using this synthesis approach we solve the state tracking problem for general continuous PWA systems and the output tracking problem for a class of single-input-single-output PWA systems. The results are illustrated by application to mechanical systems with one-sided restoring characteristics and backlash.