In this paper a model-based approach for restoring a continuous fundamental frequency (F 0 ) contour from the noisy output of an F 0 extractor is investigated. In contrast to the conventional pitch trackers based on numerical curve-fitting, the proposed method employs a quantitative pitch generation model, which is often used for synthesizing F 0 contour from prosodic event commands for estimating continuous F 0 pattern. An inverse filtering technique is introduced for obtaining the initial candidates of the prosodic commands. In order to find the optimal command sequence from the commands efficiently, a beam- search algorithm and an N-best technique are employed. Preliminary experiments for a male speaker of the ATR B-set database showed promising results both in quality of the restored pattern and estimation of the prosodic events.