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This paper presents a methodology for adaptively assigning the closed-loop poles of either continuous or discrete time linear mnltivariable systems. The scheme is direct in nature in that no parametrized model of the unknown plant needs to be explicitely identified. Rather the control parameters, and an "equivalent" plant parameterization are simultaneously estimated from input-output data using linear parameter estimation procedures. Implementation of the scheme requires only knowledge of the system controllability indexes, and an upper bound on the observabilily index.