This paper presents the Lorenz chaotic system tracking control of the reference signal by designing the proper controller based on the theory of asympotical stability of system. The controlled system can approach to the expected fixed point in the phase space and the target periodic orbits. We also discuss the problem of synchronization including the self synchronization and chaotic synchronization with diverse structures (for Rossler system). In addition, the controlled system can follow a deterministic motion as expected. Computer simulations have illustrated the simpleness and effectiveness of the proposed method.