POLE ASSIGNMENT SELF-TUNING REGULATOR

A self-tuning technique which uses a classical pole-assignment method which is nonoptimal is described. The approach has the same ″self-tuning″ property as do optimal self-tuning regulators, but is fundamentally more robust. Pole assignment can be applied to nonminimum-phase situations in which conventional self tuners fail. This point is of great practical significance, since nonminimum-phase behavior is commonly encountered in self-tuning applications. A second, but closely related, feature of the pole-assignment self tuner is its ability to regulate successfully systems with unknown, possibly varying, transport delays in situations where other methods have difficulty.