  The current model-free adaptive control (MFAC) method is designed on the
basis of the equivalent-dynamic-linearization model (EDLM) with neglect of the
time delay and disturbance in practical. By comparisons with the current works
about MFAC, i) a class of self-tuning controller is proposed based a new EDLM
modified by the introduction of time delay and disturbance so as to reflect the
real system more objectively. Thereafter, we classify the proposed controller
into four cases to enable easier applications; ii) the controller design and
stability analysis of system are achievable by analyzing the function of the
closed-loop poles. In addition, the issue of how to choose the parameter
\lambda in current MFAC by quantity is firstly finished by the analysis of
zeros-poles placement and static error of system, whereas this can hardly be
realized by the previous contraction mapping method; iii) the study on the
proposed method is focused on linear model for easily mastering its working
behavior; At last, two examples are used to demonstrate the effectiveness of
the proposed method and to point out the deficiencies in the current MFAC
theory.
