Industrial LQG self-tuning controller design

This paper presents a comprehensive analysis of the theoretical and practical issues concerned with a LQG self-tuner derived for industrial use. The LQG control law is based upon the polynomial equation approach. The control law is analysed in terms of its robustness properties and a recently derived robust estimation algorithm is described. A global convergence theorem for the LQG self-tuner is summarised. A practical example is presented and it is shown that operation of the proposed self-tuner requires the selection of only two design parameters.