Central tendency pole assignment

In adaptive control, there is a range of possibilities between the two extremes of applying the Certainty Equivalence Principle, which can only hold asymptotically, and Dual Control, which is not a practical proposition for on-line schemes. Here it is proposed that adaptive controllers be designed using Measures of Central Tendency of the a posteriori probability function of the control signal conditioned on knowledge of the plant, with particular attention focused on adaptive pole assignment.