Design methods of the self-tuning control strategy for the system with unknown parameters have been studied up to now. Among them, generalized predictive control and generalized pole-assignment control have been reported as the most succesful for the system with unknown time-delay element. However, these control methods make difficulty to realize for the real plants.
In this paper, we construct a pole-assignment self-tuning controller which is easily to realize for the real plants. This control method enables us to design control system by considering the transient property for the reference signal and the robustness for the disturbance, respectively. And also, in order to treat the system with disturbance as stepwise, we present a modified algorithm for the usual least squares method. Furthermore, we present a global convergence analysis for the proposed pole-assignment self-tuning control algorithm. Finally, we illustrate some numerical simulation results in order to show the effectiveness of the proposed control algorithm.