http://genkisugimoto.com/blog/incremental-filtering-with-percol/

percol-search-history.zsh

function exists { which $1 &> /dev/null }

if exists percol; then
  function percol_select_history() {
    local tac
    exists gtac && tac="gtac" || { exists tac && tac="tac" || { tac="tail -r" } }
    BUFFER=$(fc -l -n 1 | eval $tac | percol --query "$LBUFFER")
    CURSOR=$#BUFFER         # move cursor
    zle -R -c               # refresh
  }

  zle -N percol_select_history
  bindkey '^R' percol_select_history
fi