Recently, authors have proposed a multivariable linear controller design method based on partial model matching on frequency domain. The practical effectiveness of the method was also confirmed through several experiments using complex mechanical experimental equipment. The application was set limit to the so-called regulator problem including a design of vibration control system. However, there exist many complicated mechanical control systems such that we have to solve regulator problem and tracking control problem simultaneously. This paper is concerned with a design technique of multivariable linear controller on frequency domain, which attains regulator control purpose and tracking control purpose at the same time. The effectiveness of the proposed method is confirmed through an experiment of vibration suppression control and positioning control of pilot scale career in the warehouse with a flexible vibratory pendulum system.