How to UTF-8 Encode an URI?

[eluser]developer10[/eluser]
[quote author="Derek Allard" date="1247591834"]I'd advise you to not use those characters in your controller names or URL structures. If you need to pass them around, its safest to do so with urlencode.[/quote]

i didnt plan using them in my controller names or function names, only in parameters

if so, it's better to use them like this:
č -> as c
ć -> also as c
š -> as s
đ -> as d or even dj
ž -> as z

instead of having them encoded, since any of them will be converted to some ugly characters,
which wont make my urls to be user friendly (and that was what i wanted to achieve)

but the problem with this solution is that i cant simply pass them as parameters with characters replaced and expect them
to work correctly (i could try to restore original characters, but HOW to know which charaters are right to replace?!?)

seems like Mission:Impossible