A self-tuning decoupling controller for a class of multivariable systems and global convergence analysis

A simple multivariable self-tuning controller is presented which decouples a class of multivariable systems and specifically handles multivariable systems with a different delay associated with each output. The global convergence of this adaptive control algorithm is established. It is shown that the system input-output vectors are always sample-mean-square bounded and the conditional mean-square-generalized tracking error achieves its global minimum, even for nonminimum phase systems, for an appropriate cost function