This paper presents a multivariable control algorithm for linear systems and its corresponding adaptive control scheme. The control algorithm is applicable to a class of multivariable systems including some non-stably invertible plants. The controller achieves tracking and regulation objectives independently and the adaptation algorithm – uses a forgetting factor. This algorithm is applied to a two inputs-two outputs linear model simulated in an analogue computer. The linear model represents a laboratory hydraulic process consisting of three interconected tanks. Experimental results are presented.