A simple adaptive control algorithm is presented which is applicable to multi-variable systems with a general time-delay structure. The proposed algorithm has the advantage that it only requiresa prioriknowledge of integer-valued parameters (i.e. time delays and order parameters). It is shown that, with probability one, the algorithm will ensure the system inputs and outputs are sample mean-square bounded and the conditional mean-square generalized output tracking error achieves its global minimum possible value for linear feedback control. Some simulation results are presented to demonstrate the performance of the algorithm.