This paper investigates the asymptotic tracking control problem of the chaotic system. Firstly, a reference system is presented, the output of which can asymptotically track a given command. Then, a both physically implementable and simple controller is designed, by which the given chaotic system synchronizes the reference system, and thus the output of such chaotic systems can asymptotically track the given command. It should be pointed out that the output of the given chaotic system can asymptotically track arbitrary desired periodic orbits. Finally, several illustrative examples are taken as example to show the validity and effectiveness of the obtained results.