  A new method of direct adaptive pole placement control (APPC) is developed
for plants with unmatched uncertainty, which linearly depends on a state
vector. It guarantees the exponential stability of a control system and
exponential convergence of control law adjustable parameters to their true
values when the regressor is finitely exciting. Considering the known classical
APPC schemes and adaptive methods with exponential regulation, the advantages
of the proposed one are that it does not require a priori information on a
control input matrix and ensures the monotonic transient behavior of each
adjustable parameter of the control law. The theoretical results are supported
by the numerical experiments.
