The conventional CPV systems, as big unit design, are only suitable to be installed in the open regions, like desert areas. This gigantic system design restricts their use on the rooftop of commercial and residential buildings, unlike the conventional PV systems. This paper proposes a compact but highly accurate and cheap two axis solar tracking system, designed for CPV system field operation. The proposed system is designed and verified for tracking accuracy requirement of 0.3 degrees, and has maximum capability of as high as 0.1 degrees tracking accuracy. High tracking accuracy is ensured using in-house built double lens collimator solar feedback sensor, within a fraction of the cost of commercial solar tracking sensors. A hybrid tracking algorithm is developed in C-programming using astronomical and optical solar tracking methods. As compact CPV system design demands larger number of tracking units, for same power capacity of system. Therefore, a master slave control configuration is also proposed for the CPV field operation. Only master tracker will be equipped with the expensive tracking devices, while the required tracking information will be sent to all of the slave trackers using wireless communication through ZigBee devices. With detailed optical design, simulation and control strategy, a prototype of the proposed CPV tracking system is developed, experimentally investigated and verified for tracking accuracy for outdoor operation at the rooftop. (C) 2016 Elsevier Ltd. All rights reserved.