On the stability and convergence of a self-tuning controller

Abstract

The self-tuning regulator of Ȧström and Wittenmark and its deriyatives are discussed. The stability properties are analysed using standard input-output concepts. Convergence with probability one of certain mean-square errors of interest is shown to be a consequence of input-output stability of a related system and the martingale convergence theorem. © 1980 Taylor & Francis Group, LLC.