Generalised self-tuning controller with pole assignment

This paper presents a self-tuning controller that minimises a cost function incorporating system input, output and set-point variations, and adapts it in such a way that the closed-loop poles are located on prespecified locations. The link that exists between the classical control strategy of pole assignment and the suboptimal strategy of the self-tuning controller is demonstrated and made use of to produce a generalised controller which possesses the major advantages of both. The controller combines the robustness of pole assignment with the ease of reference following provided by suboptimal self tuning.