Virtual equivalent system for multi-variable self-tuning control

A new approach for analyzing the stability and the convergence of multivariable deterministic self-tuning control system is presented. A criterion is established, which is independent of specific parameter estimation algorithm and specific control law. With the aid of the presented criterion, different types of self-tuning control systems are analyzed, and some guidelines for designing new self-tuning control systems are obtained. Finally, in absence of commonly used tool-key technical lemma, the stability and the convergence of one-step ahead self-tuning control system are given.