The self-tuning robust servomechanism problem

A self-tuning regulator is presented which consists of a multivariable integral compensator together with a tuning mechanism which tunes the parameters of this compensator. It is shown that if the reference and disturbance are constant signals, then the controller and the plant states remain bounded for all t, and asymptotic error regulation occurs. It is also shown that the controller can be modified slightly so that it is noise-tolerant. A number of simulation examples are induced to illustrate the behaviour of the controller when applied to unknown plants