Generalized minimum variance with pole assignment controller modified for practical applications

Among self-tuning controllers, the explicit type is the most commonly used in industrial applications due to its simple structure; on the other hand the implicit structures are less attractive because of their largest structural complexity. This work presents a modification to the generalized minimum variance with pole assignment controller. The modification pretends to simplify the original algorithm and to make easier its implementation in practical projects, conserving most of the original attributes.