Abstract: For a mobile communication scenario, small misalignment between the transmitted and received beams may lead to a significant degradation of the received signal quality. This paper proposes a joint optimization of mean square error and extended Kalman filter (EKF) robust beam tracking algorithm. First, the channel complex gain and beam angle are predicted with EKF algorithm from the received signal. Secondly, we adopt the minimum mean square error (MMSE) criterion to perform iteratively optimization procedure to eliminate the estimation errors caused by the linear approximation of EKF.Simulation results demonstrate that the proposed algorithm can reduce the angle tracking error rates and increase the tracking time compared with traditional angle tracking algorithms.