This paper presents an attractive position-based visual servoing approach for camera-in-hand robotic systems. The major contribution of this work is in devising an elegant and pragmatic approach for 3D visual tracking. The proposed modified Smith predictor (MSP)-DeMenthon-Horaud (DH) visual servoing system has shown to be reliable and yielded good target tracking performance. It differ from the other techniques found in the vast visual servoing literature, in its approach for image interpretation and the introduction of a Smith-like predictor control structure to overcome the inherent vision delay. A complete description will be made on the MSP-DH visual servoing system. Experiments on the target tracking performance on AY planar motion using an AdeptOne robotic system are presented to illustrate the controller performance. Also, experimental results clearly showed the capability of the MSP-DH visual servoing system in performing 3D-dynamic visual servoing.