Abstract: A linear matrix inequality (LMI) method is introduced to design direct multiple model adaptive controller. The design problem of multiple model adaptive control is changed into finding the feasible solutions of multiple linear matrix inequalities. Multiple state feedback controllers within different uncertain parameter scopes are given, by which a direct multiple model adaptive control is set up. In this paper, direct multiple model adaptive control is also extended to the set-point value tracking problem of MIMO system, and the stability of closed-loop system is proven.