Simple, precise, and robust control is demanded for qubit operations on large quantum information processors. However, existing routes to high-fidelity quantum control heavily rely on arbitrary waveform generators that are difficult to scale up. Here, we show that the arbitrary control of a quantum system can be achieved by simply turning the control fields on and off in a proper sequence. The switching instances can be designed using conventional quantum optimal control algorithms, while the required computational resources for matrix exponentials can be substantially reduced. We demonstrate the flexibility and robustness of the resulting control protocol, and illustrate it in the context of superconducting quantum circuits. We expect this proposal to be achievable with current semiconductor and superconductor technologies, which offers a significant step towards scalable quantum computing.