The way I was taught to do it is to orient the panels north~south with a tilt that was dictated by the latitude of the location, since Minnesota is in the north hemisphere, the panels would essentially be south facing.
Designing the system to track the sun as it changed position during the day was an option, at the time (back in the late 80's) considered to be worthwhile, but with the reduction in cost/watt, this school of thought may no longer be applicable, the geographical area required to prevent the panels from shading each other as they tilted can now be occupied by additional panels to compensate for the losses resulting from not tracking the sun, at costs comparable to the older systems, especially when the tracking mechanisms and their maintenance can be eliminated.
Given that this system has been designed to track the movement of the sun during the day, what are the odds that provision has been made to change the angle of the panel during the different times of the year? It might be easier to achieve, even if it's done manually as it is not something that will need to be adjusted on a daily or even weekly basis.