The output tracking (regulation) problem of Boolean control networks is considered. First, formulas are given for calculating the set of control attractors and the (maximum) control invariant subset within a given subspace. Next, by constructing an auxiliary system and using the set controllability method, an easily verifiable necessary and sufficient condition is presented. In addition, an effective algorithm for designing open-loop control sequences are provided. Closed-loop controls are also designed, which is optimal in tracking time. Finally, an illustrative example is given.