This paper proposes a novel direct adaptive pole placement control algorithm which can be applied to continuoustime nonminimum phase systems. The algorithm is based on Lyapunov's direct method. By introducing an auxiliary signal, a minimal error model is constructed in the state space. Using the error model, an estimation law is obtained via Lyapunov's direct method. A global boundedness of the all signals of overall system is established using the suggested estimation algorithm. The proportianal-integral type estimation algorithm is suggested, which is based on speed gradient algorithm, also.
