A new type of self-tuning pole-placement controller is proposed based on multi-step cost function minimization and using single-input single-output models of the controlled autoregressive moving average form. The generalized pole-placement (GPP) algorithm has advantages over standard pole-placement self-tuners in having a set of tuning knobs for improving transient response and overall control performance. The GPP is particularly suitable for programmed control in which future set-point values are known.