AbstractA simple parameter adaptive controller design methodology is introduced in which steady‐state servo tracking properties provide the major control objective. This is achieved without cancellation of process zeros and hence the underlying design can be applied to non‐minimum phase systems. As with other self‐tuning algorithms, the design (user specified) polynomials of the proposed algorithm define the performance capabilities of the resulting controller. However, with the appropriate definition of these polynomials, the synthesis technique can be shown to admit different adaptive control strategies, e.g. self‐tuning PID and self‐tuning pole‐placement controllers. The algorithm can therefore be thought of as an embodiment of other self‐tuning design techniques. The performances of some of the resulting controllers are illustrated using simulation examples and the on‐line application to an experimental apparatus.