A Multivariable Generalized Self-Tuning Controller with Decoupling Design

This paper describes a new multivariable generalized self-tuning controller which combines the classical control strategy of pole assignment with the optimal strategy of self-tuning control. The proposed controller adopts the techniques of updating weighting polynomial matrices of the cost function on line and eliminating the tracking errors without using an integrator and realizes the decoupling self-tuning control of the multivariable system. The advantages of the controller are demonstrated by several simulation examples.