Generalisation of the self-tuning regulator

Abstract

An extension to the self-tuning regulator of Åström and Wittenmark is proposed. The parameters of the controller may be obtained by linear least squares, and, in the steady-state, the variance of an expression including the system inputs, output and a deterministic signal, such as a set point, is minimised. © 1975, The Institution of Electrical Engineers. All rights reserved.