Abstract | A new method for designing self-tuning control systems is proposed. The ultimate goal of the presented approach is to construct a self-tuner capable of coping with situations when the process under control cannot be modelled accurately within the structure provided to the least-squares identification method. Since in such circumstances the certainty-equivalence principle must be applied with extreme caution, an extra care is taken to preserve quality of control and robustness of stability. These are achieved by using control synthesis algorithm that minimises certain, so called, sensitivity functions. |
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