Self-tuning pole/zero assignment regulators

In this paper a class of self-tuning regulators is considered which combines a simple recursive least squares estimator with a pole/zero assignment design rule. Two such algorithms are shown to have the self-tuning property (i ) detuned minimum variance regulators ; (ii ) pole-asaignment regulators. The use of these regulators in self-tuning can be of considerable benefit. In particular, case (i ) is useful when minimum variance strategies need unrealistically high-loop gains, since they permit an engineering trade-off between optimality and practicality. Case (ii ) is of use in regulating non-minimum phase systems or systems involving unknown time delays. Such systems are frequently encountered in discrete time control and cannot be handled by direct minimum variance methods.