An logical multivariable robust self-tuning decoupling direct algorithm

A logical multivariable robust self-tuning decoupling algorithm is presented. The robust self-tuning decoupling scheme takes a new method to choose normalization factor and bound of deadzone. The character of system is not affected by normalization factor and deadzone bound. To realize robust self-tuning decoupling control and to improve control performance, the compensation terms for the estimate values of unmodelled dynamics and unmeasurable disturbances are introduced into optimal predictor and control law equations, thus, the approximate decoupling control results is obtained, and the stability robustness and performance robustness is improved greatly. Finally, the robustness analysis and simulation results of the algorithm are also given