Quantitative feedback theory and self-tuning control

Discusses the use of quantitative feedback theory (QFT) to design a self-tuning controller which can control a range of uncertain, but constant, plants. The author presents a detailed worked example which illustrates two main points: that the approach provides a reduced sensor noise amplification whilst asymptotically recovering the required insensitivity to time invariant uncertain plants; and that the self-tuning controller based on QFT design is robust with respect to neglected dynamics