Design of state space pole assignment self-tuning controller for MIMO systems using RPE method

RPE 방법을 이용한 다입출력 시스템의 상태공간 극배치 자기동조 제어기 설계

This paper describes expansion of the state space pole assignment self-tuning control of SISO systems with system noise and abservation noise to that of MIMO systems. Resursive Prediction Error method is used for both parameter and state estimation in the block controllable canonical form. This simplifies the state feedback law by eliminating the online computation of transformation matrix.