A system and method of controlling a sensor to sense one target from a plurality of targets includes predicting states of the targets. A set of probability distributions is generated. Each probability distribution in the set represents a setting or settings of at least one control parameter of the sensor. An expected information gain value for each control parameter in the set is calculated. The information gain value represents an expected quality of a measurement of one of the targets taken by the sensor if controlled according to the control parameter, based on the predicted state of the target. Updating the set of probability distributions takes place to identify the sensor control parameters that maximise the expected information gain value. The sensor is then controlled in accordance with the maximising control parameters.