The paper describes the theory and application of multi-input/multi-output CMIMO) self tuning controllers where the control objective is the tracking of reference signals. The two schemes previously introduced by the authors for SISO case are extended for the case of MIMO. The two schemes require pole placement of the closed loop transfer function as well as zero placement of the error transfer function. The problem in the case of MIMO systems is more difficult than that for SISO, mainly because, the matrices describe the system are not commute. Simulation example is given to demonstrate that the second scheme is more suitable than the first one.