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This paper presents a sensor-control method for choosing the best next state of the sensors that provide accurate estimation results in a multitarget tracking application. The proposed solution is formulated for a multi-Bernoulli filter and works via minimization of a new estimation-error-based cost function. Simulation results demonstrate that the proposed method can outperform the state-of-the-art methods in terms of computation time and robustness to clutter while delivering similar accuracy.