A simple pole-assignment scheme for designing multivariable self-tuning controllers

Lots of self-tuning control schemes have been proposed for tuning the param eters of control systems. Among them, pole-assignment schemes have been wid ely used for tuning the parameters of control systems with unknown time del ays. They are usually classified into two methods, the implicit and the exp licit methods according to how to identify the parameters. The latter has a n advantage to design a control scheme by taking account of the stability m argin and control performance. However, it involves a considerably computat ional burden to solve a Diophantine equation. A simple scheme is proposed i n this paper, which can construct a multivariable self-tuning pole-assignme nt control system, while taking account of the stability margin and control performance without solving a Diophantine equation.