Synchronization onto arbitrary orbit for diffusively coupled complex networks is of great application value and was investigated in this paper especially when nodes are chaotic systems. A decentralized nonlinear PID controller was proposed for this purpose. The controller was designed with assistance of associated feedback system of the network. A particle swarm style self-optimization algorithm was provided to find the optimal parameter of the controller online with IAE performance index. Finally a networked Chen system was given to be controlled to track sine wave, square wave and triangular wave simultaneously as the example to verify the method presented.