Continuous-time approach to self-tuning control: algorithm, implementation and assessment

Inspired by the widely reported success of applications of piecewise-constant orthogonal functions to several problems of systems and control (in particular, to that of identification and the desirability of continuous-time treatment of the underlying design problem for self-tuning control), a completely continuous-time self-tuning algorithm based on block pulse functions is presented. It is found that the proposed algorithm is superior in performance to the corresponding discrete-time algorithm in the case of an example.