The Global Convergence Analysis of A Multivari-Able Decoupling Self-Tuning Controller
多变量自校正解耦控制器的全局收敛性分析

In this paper, the stability and convergence analysis of the multivariable decoupling selftuning control algorithm presented in 1] is given. It is shown that this algorithm has global convergence properties, i.e., with probability one, the system input vector and output vector are sample mean square bounded and the conditional mean square generalized tracking error vector achieves its global minimum possible value.