Stability and control aspects of a performance adaptive self-organizing control algorithm

Sufficient conditions for the stability of self-organizing control algorithms based on a subgoal approach are given. A method is presented which aids in the a-priori choice of the structure of the feedback control law under the assumption that on-line or off-line identification of the structure of the plant has been accomplished. Subsequent to closing the loop, bounds, which depend on the control law chosen on the performance index say be estimated. Illustrative examples are presented.