Multiloop self-tuning control: decoupling and pole assignment regulators for n-input n-output stochastic systems

The behaviour of n-input n-output systems with white noise is considered. An adaptive controller that simultaneously decouples the system and assigns its closed-loop poles is derived. This controller is of the ‘hybrid’ type and consists of a continuous-time control law, the parameters of which are updated using a discrete-time identification algorithm. Convergence and strong consistency results are derived for the identification algorithm and used to demonstrate that the adaptive control law does indeed produce a stable decoupled closed-loop system with correctly assigned poles