Abstract: Adaptive pole placement algorithm for multivariable system with a general uncertainty structure is presented. The long-standing adaptive pole placement problem for multivariable non minimum phase system with a general uncertainty structure is solved without a persistent excitation signal. A modification strategy for parameter estimation is proposed to guarantee the uniform controllability of the estimated model and to obtain a lower bound of the controllable measure. The global convergence and the stability of the algorithm are established. The scheme requires no a priori knowledge other than the system observability indices and upper bound of the controllability index.