Abstract: In this paper, a pole assiqnment self-tuning controller is presented. It not only can control unstable and/or nonminimum phase systems but also the multivariable system with arbitrary unknown and/or varying time delay structure. It is implemented by the implicit scheme, i.e., the input output data can be used to directly identify the controller parameters. It avoids the :solving of matrix equations on line and improves the robustness of the algorithm proposed. The results of simulation and control for a multivariable electrically heated system in real time show that this controller has good performances.