A design method of generalized minimum variance controller for tracking reference with ramp input

We propose a design method of self-tuning controller (STC) for single-input/single-output nonminimum phase systems in the case of ramp input reference signals. First, we construct the adaptive control system based on the generalized minimum variance control method such that the system output does not yield the steady state error for the reference input with ramp wave. Next, the pole assignment method is introduced to the ramp wave tracking algorithm in order to solve the problem that the settling time of the system output response is delayed. Finally, the validity of the proposed method has been investigated by the numerical simulation