Multivariable self-tuning regulators

This paper describes a design method of multivariable self-tuning regulators. The controller is developed to minimize a quadratic cost function which penalizes the control signals as well as the output deviations from time varying reference signals. This gives an extension of the minimum variance strategy [1] to handle non-minimum phase systems using a different approach than [2]. One of the advantages is that the number of inputs does not have to be the same as the number of outputs. A simulation example is presented to illustrate the efficiency and the usefulness of this approach.