In classical gasoline injection systems, the control of the throttle plate position is important for the efficiency and emission of the engine. The angular position, depending on the current load of the engine, must track a desired trajectory which is performed by the accelerator. The tracking problem is treated by using a minimum variance control approach. Moreover, this paper presents a feasible real time self tuning of an approximated PD regulator. Robustness in the proposed loop control is achieved. Measured results on the real experimental set point are reported.