Lots of self-tuning control schemes have been proposed for tuning the parameters of control systems. Among them, pole-assignment schemes have been widely used for tuning the parameters of control systems with unknown time delays. They are usually classified into two methods, the implicit and the explicit methods according to how to identify the parameters. The latter has an advantage to design a control scheme by taking account of the stability margin and control performance. However, it involves a considerably computational burden to solve a Diophantine equation. A simple scheme is proposed in this paper, which can construct a multivariable self-tuning pole-assignment control system, while taking account of the stability margin and control performance without solving a Diophantine equation.