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In this paper we extend the idea of adaptive waveform selection for radar target tracking to interacting multiple model (IMM) trackers to permit the modelling of maneuvering targets by allowing multiple possible dynamical models. We develop a one step ahead solution to the problem of waveform selection, which is designed to decrease dynamic model uncertainty for the target of interest. It is based on maximization of the expected information obtained about the dynamical model of the target from the next measurement. We also discuss the design of waveform libraries for target tracking applications.