Multivariable state-feedback self-tuning controllers ∗

This paper describes a state-space approach for self-tuning control of a class of multivariable stochastic systems having the same number of inputs as outputs. A multivariable state-feedback self-tuning controller, based on pole-assignment concepts, is derived. The developed multivariable self-tuner can be applied to stable/unstable and minimum/non-minimum phase linear time-invariant multivariable systems. A multivariable reduced-order self-tuner and a state-feedback minimum-variance self-tuner are also derived. The simplicity and flexibility of the proposed state-space approach facilitate the practical applications of self-tuning control concepts to real systems

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