A new multivariable decoupling pole-zero placement self-tuning controller

This paper presents a new multivariable self-tuning controller with decoupling control structure which not only achieves pole-zero placement but also realizes adaptive decoupling control. The controller proposed specifically handles different time delays between each of the input-output pairs, and deals with unknown or varying time delay without requiring an explicit estimate of each delay. It is able to track varying time reference signals and control stochastically disturbed systems. The simple explicit and implicit schemes are also discussed.