A study on robust asymptotic tracking property for generalized minimum variance control

This paper presents self tuning control (STC) systems with generalized minimum variance control (GMVC) strategy. In the GMVC as original structure, offsets remain due to the reference signal changing and the load-disturbance. Furthermore, in the STC systems of GMVC, the offset also remains due to the error of the estimated parameters. Some servo methods have been proposed with regard to the reference signal tracking. However, these methods can not reject the offset due to the load-disturbance yet. This paper proposes the servo method, based on the internal model principle, against the load-disturbance and deviation of the estimated parameters from the real plant parameters. This paper especially improves the robust asymptotic tracking property due to the deviation of the estimated parameters. The robust asymptotic tracking property are verified by the final value theorem. The simulation compares the proposed servo GMVC with other servo methods.