Paper: A multivariable self-tuning controller

  • Authors:

  • H. N. Koivo

  • Affiliations:

  • Tampere University of Technology, P.O. Box 527, SF-33101 Tampere 10, Finland

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 1980

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Abstract

A multivariable self-tuning controller is derived extending the scalar version of Clarke and Gawthrop (1975). Because the control terms are penalized in the cost function, fluctuations and peaking in control signals are reduced compared with the multivariable minimum variance self-tuning controller (Borisson, 1979). Time-varying reference signals as well as certain nonminimum-phase systems can be handled without difficulty with the proposed controller. Several examples illustrate the power of the derived self-tuning controller.