This paper presents a solution to a benchmark problem for tracking maneuvering targets. The benchmark problem involves beam pointing control of a phased array (i.e., an agile beam) radar against highly maneuvering targets. The proposed solution utilizes an interacting multiple model (IMM) algorithm that includes a constant velocity model, a constant thrust model, and a constant speed turn model. The output error covariance of the IMM algorithm is used to compute the time for the next measurement so that a given level of tracking performance is maintained. Using this on-line measure of tracking performance automatically takes into account target range, target maneuvers, missed detections, and strength of the returns. A testbed simulation program that includes the effects of target amplitude fluctuations, beamshape, missed detections, finite resolution, target maneuvers, and track loss is used to evaluate the performance of the proposed algorithm. The `best' tracking algorithm as defined by the benchmark problem is the one that requires a minimum number or radar dwells while satisfying a constraint of 4% on the maximum number of lost tracks. The proposed technique lost less than 2% of the tracks and provided average sample periods of 3.6 s for the commercial aircraft trajectory and 1.9 s for targets maneuvering with as much as 7 g's.