A Generalized Self-Tuning Decoupling Controller with Pole-Placement for a Class of Multivariable Systems

In this paper, a new multivariable generalized self-tuning decoupling controller is proposed combining classical pole placement strategy with the optimal strategy of self-tuning control. This controller can not only control the stochastic systems with arbitrary, unknown and/or varying time delay structure, but also can directly decouple closed loop systems both at steady state and dynamically. Since it is not necessary to solve polynomial matrix equations the algorithm is simple. It is proved that the controller adopting slight modified least squares algorithm is stable and convergent even for unstable open loop and/or nonminimum phase systems under some conditions. The simulation results demonstrate the effectiveness of the algorithm.