Abstract: This paper presents a generalized self-tuning controller with on-line choice of weighting terms combined with generalized minimum variance control and pole-placement strategy.This controller adopts least square algorithm to estimate its parameters and it is implemented in indirect scheme.It is also globally convergent.Simulation research about the application of the controller to flight altitude control is aIso made.Its results show that the controller can adapt changes of the system parameter due to flight condition variation to obtain a satisfactory controlperformance.