On-line self-tuning control of processes with inaccessible state

The practical implementation of an explicit multivariable state-space self-tuning controller using a hybrid configured microcomputer system is described. The control structure is based on the minimization of a multistage quadratic performance index using dynamic programming or a single-stage performance index based on a Lyapunov function. Measurement of readily available output measurements from the controlled plant is all that is required. The system hardware is centered around a 16-b Sirius microcomputer interfaced to an analog computer on which the plant is simulated. Application software is handled under the MS-DOS operating system using a mixture of high-level and low-level programming languages