Self-tuning control systems: a review of developments

The general aim of the chapter is to provide the reader with an overview of some of the key developments in the field of linear model-based STC. It also includes an introduction to some of the definitions that allow the classification of the resulting STC forms. The definition of STC as being one form of adaptive control which requires two coupled sub-algorithms, one for on-line estimation of a discrete-time mathematical model of a plant and the other for control law design and implementation, is presented. The notion of repeatedly updating the model parameters via recursive estimation is introduced. Whilst reference is made to authoritative texts on the subject, a brief review of recursive least squares and Kalman filtering is given, together with extensions to enhance the adaptivity of the schemes. Then, three main categorisations of control law design are considered in the order of their historical development, namely: optimal d-step ahead control AbstrAct

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