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We present an adaptive infinite-impulse response (IIR) filtering structure that is based on a novel performance measure. The proposed adaptive IIR filter consists of two finite-impulse response (FIR) filters that are directly driven by a noise-free input signal. One adaptive filter inversely estimates the poles, and the other filter directly estimates the zeros of an unknown system. Since the filter structure consists of two FIR filters, the performance measure is unimodal, and thus no local minimum exists. The simulation results demonstrate that the proposed method can indeed produce unique unbiased parameter estimates in the presence of both white and colored noise.