An innovative dual version of the direct adaptive pole-placement controller (APPC) is designed, using bicriterial optimization. A new performance index for control optimization of adaptive pole-placement systems is suggested. In contrast to the well-known direct APPC, based on the certainty equivalence (CE) assumption, the accuracy of the parameter estimation and necessity of an optimal excitation signal are taken into account in the presented controller design. It is emphasized that the new controller provides improved control performance, especially at the commencement of adaptation. Simulated examples are used to demonstrate the potential and superiority of the designed controller over the original APPC.