This study presents an self tuning regulator(STR) to improve the air-fuel ratio control of performance of gasoline engine. The STR is designed based on the nonlinear dynamic engine model, and the performance of the STR is evaluated through the simulation and experiments. The STR shows better performance than a conventional PI controller in terms of the response time and disturbance rejection. Since the STR has less calculation load than the complex nonlinear controller, this algorithm can be easily applied to on-board engine controller.