In this paper, we give a tutorial review of fictitious reference iterative tuning (which is abbreviated as FRIT in the following). This tuning method enables us to obtain the optimal parameter with only one-shot experimental data of the closed loop and performing an off-line nonlinear optimization. Thus, this method is useful from the practical points of view in the case in which it is difficult to take a time and cost for tuning of a parameterized controller. In this expository article, we give the basic idea of FRIT and how to apply this method to practical problems. Particularly, we focus on the problem how to tune a controller parameter so as to let the closed loop track for desired responses. Moreover, we mention the future developments of this tuning method.