Abstract: This paper proposes a minimum-variance self-tuning control algorithm withtracking property.Closed-loop systems designed with this algorithm can get a better tracking property than that designed with other optimal algorithms,and atthe same time,retaines the minimum-variance control ability to noises.The algorithm can be applied to any stable/unstable minimum-phase/nonminimum-phasesystems.It may be regarded also as a development of the algorithm of (7).Thisalgorithm in comparison with the algorithm of (7) is quite easier to design andhas better tracking and regulating characteristics.