Reduced-variance pole-assignment self-tuning regulation

Abstract

In this paper the standard explicit self-tuning pole-assignment regulator is generalized to allow the output and/or input variances to be reduced. This is achieved by a suitable overparametrization of the controller polynomials allowing scope for optimization. In the regular case, simulation results indicate that the self-tuning property remains valid, and this is proved in a particular case. A reduced-variance servo controller is briefly discussed. The algorithms can give significant reductions in variance for little extra computational effort.