On-line two-level computer control of largely uncertain plants

In this paper, a computer control technique for controlling a class of largely uncertain multivariable plants using model tracking method is presented. The approach uses a "Two-level" controller, with a feedforward controller on its first-level, and a conditional feedback controller on its second-level. The design procedure presented employs the deterministic type Liapunov signal synthesis procedure which can be implemented on a suitable digital computer, and does not need an explicit knowledge of the plant.