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An adaptive control algorithm is presented to achieve the following design objectives: (i) input-output decoupling, (ii) complete and arbitrary pole assignment and (iii) some zero assignments in ¿¿z¿¿¿¿ 1 to deal with the problem of high-order signal tracking. The basic idea of the paper is that, if the readability can be guaranteed, a multipurpose controller can be obtained directly from the desired transfer-function matrix (or sensitivity-function matrix). With this viewpoint, the diophantine equation can be avoided, so that our algorithm possesses much computational advantage over the existing approaches in adaptive pole-assignment control. As the requirement of realisability is satisfied, this algorithm can easily handle both unstable and nonminimum-phase systems.