A Multivariable Self-Tuning Feedforward Controller with Consistent Parameter Estimates
具有强相容参数估计的多变量自校正前馈控制器

In this paper, a novel self-tuning controller is presented. The controller has the following advantages: 1) It can control stochastic multivariable systems with arbitrary time delay structure; 2) It can deal with unstable and/or non-minimum phase processes; 3) It eliminates measurable disturbances, load offsets and tracking errors without having integral action in adptive control case; 4) It has global convergence properties; and 5) Parameter estimates are strongly consistent.